JP2003191181A - Landing shock absorber of leg type mobile robot - Google Patents

Landing shock absorber of leg type mobile robot

Info

Publication number
JP2003191181A
JP2003191181A JP2001392787A JP2001392787A JP2003191181A JP 2003191181 A JP2003191181 A JP 2003191181A JP 2001392787 A JP2001392787 A JP 2001392787A JP 2001392787 A JP2001392787 A JP 2001392787A JP 2003191181 A JP2003191181 A JP 2003191181A
Authority
JP
Japan
Prior art keywords
bag
shaped member
landing
variable volume
leg
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2001392787A
Other languages
Japanese (ja)
Other versions
JP3691434B2 (en
Inventor
Toru Takenaka
透 竹中
Hiroshi Gomi
洋 五味
Ichiji Hamaya
一司 浜谷
Yoshiya Takemura
佳也 竹村
Takashi Matsumoto
隆志 松本
Takahide Yoshiike
孝英 吉池
Yoichi Nishimura
要一 西村
Kazushi Akimoto
一志 秋元
Taro Yokoyama
太郎 横山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2001392787A priority Critical patent/JP3691434B2/en
Priority to KR1020047009967A priority patent/KR100917183B1/en
Priority to EP02788801A priority patent/EP1459854B1/en
Priority to DE60231647T priority patent/DE60231647D1/en
Priority to PCT/JP2002/012980 priority patent/WO2003055649A1/en
Priority to US10/499,056 priority patent/US7228923B2/en
Publication of JP2003191181A publication Critical patent/JP2003191181A/en
Application granted granted Critical
Publication of JP3691434B2 publication Critical patent/JP3691434B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/02—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum
    • F16F9/04—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum in a chamber with a flexible wall
    • F16F9/0472—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum in a chamber with a flexible wall characterised by comprising a damping device
    • F16F9/0481—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum in a chamber with a flexible wall characterised by comprising a damping device provided in an opening to the exterior atmosphere

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide a landing shock absorber capable of smoothly reduce the landing shock caused when a leg body of a leg type mobile robot lands in a simple constitution. <P>SOLUTION: The landing shock absorber 18 arranged in the sole mechanism 6 of the robot is provided with a bag-like member 19 (variable volume body) which can expand and compressed in relation to the landing face side of the sole mechanism 6. The bag-like member 19 is made of elastic material such as rubber so as to be restored. The inside of the bag-like member 19 communicates with an atmospheric side through a flow passage 20. When the leg body lands, the bag-like member 19 compressed to the land, and the inside air flows out to the atmosphere through the flow passage 20, generating flow resistance. This reduces landing shock. With the leg body separated from floor, the bag-like member 19 is expanded while making air flow into the inside by the restoring force of the bag-like member 19. <P>COPYRIGHT: (C)2003,JPO

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【発明の属する技術分野】本発明は、脚式移動ロボット
の脚体の着床動作時の衝撃荷重を軽減するための着床衝
撃緩衝装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landing shock absorbing device for reducing a shock load during a landing motion of a leg of a legged mobile robot.

【０００２】[0002]

【従来の技術】二足移動ロボット等、複数の脚体を備え
た脚式移動ロボットでは、各脚体はその先端部に設けら
れた足平機構の接地面部を介して床に接地される。ここ
で、該足平機構は、より詳しくは、各脚体の最も先端側
の関節（足首関節）に連結された機構である。そして、
脚式移動ロボットは、各脚体の離床・着床動作により移
動する。該離床・着床動作は、より詳しく言えば、複数
の脚体のうちの少なくとも一つの脚体を支持脚として、
該支持脚の足平機構を接地状態に維持する一方、他の脚
体を遊脚として、該遊脚の足平機構をその接地箇所から
空中に持ち上げて移動させ、他の接地箇所に接地させる
という動作の繰り返しである。2. Description of the Related Art In a legged mobile robot having a plurality of legs, such as a bipedal mobile robot, each leg is grounded to the floor via a grounding surface portion of a foot mechanism provided at its tip. Here, more specifically, the foot mechanism is a mechanism connected to a joint (ankle joint) on the most distal end side of each leg. And
The legged mobile robot moves by the floor leaving / landing motion of each leg. More specifically, the leaving and landing operation is performed by using at least one leg of the plurality of legs as a support leg,
While keeping the foot mechanism of the supporting leg in a grounded state, the foot mechanism of the free leg is lifted into the air from its grounding location and moved to another grounding location by using the other leg as a free leg. It is a repetition of the operation.

【０００３】この種の脚式移動ロボットでは、各脚体の
着床動作によって、該脚体の足平機構の接地面部を接地
させた時に、該脚体の足平機構を介して瞬間的に比較的
大きな衝撃荷重（過渡的な床反力）が作用する。特に、
脚式移動ロボットを比較的速い移動速度で移動させるよ
うな場合には、脚体の足平機構が接地する直前における
脚体の運動エネルギーが大きいために、前記衝撃荷重が
大きなものとなる。そして、この衝撃荷重が大きいと、
それに耐え得るように各脚体の各部の剛性を高める必要
が生じ、ひいては、各脚体の小型化や軽量化の妨げとな
る。このため、このような衝撃荷重を軽減（緩衝）する
ことが望まれる。In this type of legged mobile robot, when the ground contact surface of the foot mechanism of the leg is grounded by the landing motion of each leg, the foot mechanism of the leg instantaneously passes through. A relatively large impact load (transient floor reaction force) acts. In particular,
When the legged mobile robot is moved at a relatively high movement speed, the impact load becomes large because the kinetic energy of the leg immediately before the foot mechanism of the leg comes into contact with the ground is large. And if this impact load is large,
It is necessary to increase the rigidity of each part of each leg so as to be able to endure it, which in turn impedes downsizing and weight reduction of each leg. Therefore, it is desired to reduce (buffer) such an impact load.

【０００４】このような衝撃緩衝装置としては、例えば
本願出願人が特開平５−３０５５７８号公報に提案した
ものが知られている。この衝撃緩衝装置では、足平機構
の踵部に作動油が充填されたシリンダを備え、このシリ
ンダ内を摺動可能なピストンから足平機構の踵部の底面
側に向かってロッドが延設されている。そして、該ロッ
ドの先端部にはきのこ状に拡径してなる接地体が設けら
れている。また、ピストンは、その上側でシリンダ内に
収容されたスプリングにより、前記接地体が足平機構の
底面側に突出する方向に付勢されている。さらに、該ピ
ストンには、その上側の室と下側の室との間での作動油
の流通を可能とする流通路が穿設されている。As such a shock absorbing device, for example, the one proposed by the applicant of the present application in Japanese Patent Application Laid-Open No. 5-305578 is known. This shock absorbing device includes a cylinder in which the heel of the foot mechanism is filled with hydraulic oil, and a rod extends from a piston slidable in the cylinder toward the bottom surface side of the heel of the foot mechanism. ing. Further, a grounding body having a mushroom-shaped diameter is provided at the tip of the rod. Further, the piston is urged by a spring accommodated in the cylinder on the upper side in a direction in which the ground contact body projects toward the bottom surface of the foot mechanism. Further, the piston is provided with a flow passage that allows the working oil to flow between the upper chamber and the lower chamber.

【０００５】このように構成された衝撃緩衝装置では、
脚体の着床動作の際に、前記接地体が接地し、ピストン
と共に前記スプリングの付勢力と逆方向に押圧される。
このとき、シリンダ内の作動油がピストンの流通路を介
して流通しつつ、ピストンがスプリングを圧縮する方向
に摺動し、これにより、脚体の着床動作時の衝撃荷重が
軽減される。In the shock absorbing device constructed as described above,
During the landing operation of the legs, the grounding body is grounded and is pressed together with the piston in the direction opposite to the biasing force of the spring.
At this time, the hydraulic oil in the cylinder flows through the flow passage of the piston, and the piston slides in the direction of compressing the spring, whereby the impact load during the landing operation of the leg is reduced.

【０００６】しかしながら、かかる衝撃緩衝装置では、
作動油を用いているため、特に、ロボットの移動速度が
速い場合には、前記接地体が接地した瞬間に作動油の圧
力が急増する。このため、該接地体の接地の瞬間には比
較的大きな衝撃荷重が発生しやすい。この場合、ピスト
ンの流通路の開口面積を大きめにすれば、前記接地体の
接地の瞬間における作動油の圧力の急増を抑制すること
は可能である。しかるに、このようにした場合には、作
動油の流通によるダンピング効果（運動エネルギーの減
衰効果）が低下して、足平機構の着床動作直後の床反力
の振動が生じ易く、ロボットの姿勢が不安定になりやす
い。However, in such a shock absorbing device,
Since the hydraulic oil is used, the pressure of the hydraulic oil rapidly increases at the moment when the grounding body touches the ground, especially when the robot moves at a high speed. Therefore, a relatively large impact load is likely to occur at the moment of grounding of the grounding body. In this case, if the opening area of the flow passage of the piston is made large, it is possible to suppress the sudden increase in the pressure of the hydraulic oil at the moment of the ground contact of the ground contact body. However, in such a case, the damping effect (damping effect of kinetic energy) due to the circulation of the hydraulic oil is reduced, and the vibration of the floor reaction force immediately after the landing operation of the foot mechanism is likely to occur. Tends to be unstable.

【０００７】さらに前記衝撃緩衝装置では、作動油を用
いているために、緩衝装置の重量が大きいものとなり、
ロボットの軽量化の妨げとなる。また、脚体の着床動作
の際に接地する接地体は、ピストンの摺動方向（シリン
ダの軸心方向）にしか移動できないと共に固体状のもの
であるため、床の形状によっては該接地体にその可動方
向と交差する方向に衝撃荷重が作用して、該衝撃荷重を
十分に軽減できなかったり、衝撃緩衝装置の損傷を生じ
る虞れがある。Further, in the shock absorbing device, since the hydraulic oil is used, the weight of the absorbing device becomes large,
This hinders the weight reduction of the robot. Further, since the grounding body that comes into contact with the ground when the legs land on the floor can move only in the sliding direction of the piston (axial direction of the cylinder) and is solid, depending on the shape of the floor, the grounding body can be moved. Moreover, an impact load may act in a direction intersecting with the movable direction, and the impact load may not be sufficiently reduced, or the impact shock absorber may be damaged.

【０００８】[0008]

【発明が解決しようとする課題】本発明はかかる背景に
鑑みてなされたものであり、脚式移動ロボットの脚体の
着床動作時の衝撃荷重を軽量な構成で円滑に軽減するこ
とができる着床衝撃緩衝装置を提供することを目的とす
る。SUMMARY OF THE INVENTION The present invention has been made in view of the above background, and it is possible to smoothly reduce the impact load at the time of the landing operation of the legs of the legged mobile robot with a lightweight structure. An object is to provide a landing shock absorbing device.

【０００９】[0009]

【課題を解決するための手段】本発明の脚式移動ロボッ
トの着床衝撃緩衝装置はかかる目的を達成するために、
足平機構の接地面部を介してそれぞれ接地可能な複数の
脚体の離床・着床動作により移動する脚式移動ロボット
において、各脚体の着床動作の際に床反力を受けて圧縮
されると共に少なくとも該脚体の離床動作により該床反
力を受けなくなったときには膨張し得るように該脚体の
足平機構に設けられ、その膨縮に伴い内部に圧縮性流体
を入出可能な可変容積体と、各脚体の離床状態で該可変
容積体を膨張させつつ該可変容積体に圧縮性流体を流入
させると共に前記床反力による該可変容積体の圧縮に伴
い該可変容積体から圧縮性流体を流出させる流入・流出
手段とを備え、該流入・流出手段による前記可変容積体
内の圧縮性流体の流出の際に流出抵抗を発生させるよう
にしたことを特徴とするものである。In order to achieve such an object, a landing shock absorbing device for a legged mobile robot according to the present invention is provided.
In a legged mobile robot that moves by leaving and landing motion of multiple legs that can be grounded via the grounding surface of the foot mechanism, it is compressed by receiving floor reaction force during the landing motion of each leg. At the same time, it is provided in the foot mechanism of the leg so that it can be inflated at least when the floor reaction force is no longer received due to the floor leaving motion of the leg, and a variable compressible fluid can be put in and out in accordance with the expansion and contraction. The variable volume body is expanded while the variable volume body is expanded in a state where the volume body and each leg are out of bed, and the variable volume body is compressed as the variable volume body is compressed by the floor reaction force. Inflow / outflow means for outflowing the sexual fluid, and outflow resistance is generated when the compressive fluid in the variable volume body is outflowed by the inflow / outflow means.

【００１０】尚、本発明において、各脚体の着床動作
は、該脚体の足平機構の接地面部が床から離反した状態
から、該足平機構を下降させてその接地面部を床に接地
させる動作を意味し、各脚体の離床動作は、該脚体の足
平機構の接地面部を床に接地させた状態から、該足平機
構を空中に持ち上げてその接地面部を床から離反させる
動作を意味する。また、各脚体もしくは足平機構の離床
状態は、該脚体の足平機構の接地面部の全体を床から離
反させた状態を意味する。さらに、各脚体もしくは足平
機構の着床状態は、該脚体の足平機構の接地面部の全部
もしくは一部を床に接地させた状態を意味する。In the present invention, in the landing operation of each leg, the foot mechanism is lowered to bring the ground contact surface to the floor when the ground contact surface of the foot mechanism of the leg is separated from the floor. It means the action of touching the ground, and the action of leaving each leg from the floor is to lift the foot mechanism into the air from the state where the grounding surface of the foot mechanism of the leg is grounded to the floor and separate the grounding surface from the floor. It means the operation to make. In addition, the state in which each leg or the foot mechanism is out of bed means a state in which the entire grounding surface portion of the foot mechanism in the leg is separated from the floor. Further, the landing state of each leg or foot mechanism means a state in which all or part of the ground contact surface of the foot mechanism of the leg is grounded on the floor.

【００１１】かかる本発明によれば、各脚体の着床動作
の際に、膨張状態の可変容積体がその内部の圧縮性流体
と共に圧縮され、該圧縮性流体の圧力が上昇する。この
とき、可変容積体内の加圧された圧縮性流体が前記流入
・流出手段によって該可変容積体内から流出抵抗を伴っ
て流出する。これにより脚体の運動エネルギーが減衰す
る。また、この場合、圧縮性流体のばね性によって、脚
体の運動エネルギーの一部が該空気の弾性エネルギーに
変換されて吸収され、さらにその弾性エネルギーが、可
変容積体からの圧縮性流体の流出抵抗によって消散す
る。このような作動により、可変容積体及びその内部の
圧縮性流体を介して脚体に作用する床反力の瞬時的な急
変が生じるのを回避しつつ、脚体の着床動作の際に該脚
体に作用する衝撃荷重（過渡的な床反力）が軽減され
る。従って、本発明によれば、脚体の着床時の衝撃荷重
を円滑に軽減し、良好な緩衝効果を得ることができる。
尚、前記圧縮性流体としては、空気等の気体や、気泡を
含有する液体もしくはゲル等が挙げられる。この場合、
特に、圧縮性流体として気体を用いた場合には、該圧縮
性流体が軽量なものとなり、ひいては本発明の着床衝撃
緩衝装置を軽量なものとすることができる。According to the present invention, during the landing operation of each leg, the inflated variable volume is compressed together with the compressive fluid therein, and the pressure of the compressible fluid rises. At this time, the pressurized compressive fluid in the variable volume body flows out from the variable volume body with outflow resistance by the inflow / outflow means. This attenuates the kinetic energy of the legs. Further, in this case, due to the elasticity of the compressible fluid, a part of the kinetic energy of the leg is converted into elastic energy of the air and absorbed, and the elastic energy further flows out of the compressible fluid from the variable volume body. Dissipated by resistance. By such an operation, it is possible to avoid a momentary sudden change in the floor reaction force acting on the leg body via the variable volume body and the compressive fluid inside the variable volume body, while avoiding the sudden change in the floor body during the landing operation. The impact load (transient floor reaction force) acting on the legs is reduced. Therefore, according to the present invention, the impact load at the time of landing of the leg can be smoothly reduced, and a good cushioning effect can be obtained.
Examples of the compressive fluid include gas such as air, liquid or gel containing bubbles. in this case,
In particular, when a gas is used as the compressive fluid, the compressible fluid becomes lightweight, and thus the landing shock absorbing device of the present invention can be made lightweight.

【００１２】かかる本発明では、前記可変容積体は、各
脚体の着床動作の際に該脚体の足平機構の接地面部に先
行して接地するように該脚体の足平機構の底面側に設け
たり、あるいは、足平機構の接地面部と、足平機構が連
結された関節（足首関節）との間に介装したりすること
が可能である。In the present invention, the variable volume body of the foot mechanism of the leg body is grounded prior to the grounding surface portion of the foot mechanism of the leg body during the landing operation of each leg body. It can be provided on the bottom surface side, or can be interposed between the ground surface portion of the foot mechanism and the joint (ankle joint) to which the foot mechanism is connected.

【００１３】そして、特に、可変容積体を、脚体の足平
機構の底面側に設けた場合には、該可変容積体は変形自
在な袋状部材により構成されていることが好適である。
すなわち、前記袋状部材は、各脚体の着床動作の際に、
該脚体の足平機構の接地面部に先行して接地し、圧縮さ
れる。このとき、該袋状部材は、床の表面形状に沿うよ
うにして変形できるため、該袋状部材が接地し得る限
り、床の形状等によらずに本発明の着床衝撃緩衝装置の
緩衝機能を発揮できる。従って、脚体の着床時の衝撃荷
重の軽減効果の確実性を高めることができる。また、袋
状部材は、その変形の自由度が高いことから、各脚体の
着床動作の際に該袋状部材に種々様々な方向から床反力
が作用しても、該袋状部材が破損するような事態を回避
できる。In particular, when the variable volume body is provided on the bottom side of the foot mechanism of the leg body, it is preferable that the variable volume body is formed of a deformable bag-shaped member.
That is, the bag-shaped member, during the landing operation of each leg,
The foot is ground and compressed prior to the ground surface of the foot mechanism of the leg. At this time, since the bag-shaped member can be deformed so as to follow the surface shape of the floor, as long as the bag-shaped member can be grounded, the cushioning of the landing shock absorbing device of the present invention does not depend on the shape of the floor or the like. It can exert its function. Therefore, it is possible to enhance the certainty of the effect of reducing the impact load when the legs are landed. Further, since the bag-shaped member has a high degree of freedom of deformation, even if floor reaction forces act on the bag-shaped member from various directions during the landing operation of each leg, the bag-shaped member is not affected. It is possible to avoid such a situation that is damaged.

【００１４】このように可変容積体を袋状部材により構
成した本発明では、該袋状部材は、その膨張方向への復
元力を有するように弾性材を用いて構成されていること
が好適である。すなわち、袋状部材自身がその膨張方向
への復元力を持たない場合には、該袋状部材を各脚体の
着床動作前に膨張させておくためには、流体供給装置に
より積極的に該袋状部材内に圧縮性流体を供給したり、
あるいは、袋状部材とは別のばね等により該袋状部材を
膨張方向に付勢する必要があるため、着床衝撃緩衝装置
の構成要素が多くなりやすい。これに対して、袋状部材
自身が膨張方向への復元力を有する場合には、該袋状部
材がその復元力により膨張しながら外部の圧縮性流体を
吸入することが可能となるため、着床衝撃緩衝装置の構
成要素を少なくして、その構成を簡略なものとすること
ができる。特に、前記圧縮性流体として例えば空気を用
い、袋状部材に対する空気の入出を大気中との間で行う
ようにした場合には、袋状部材に供給する圧縮性流体を
貯蔵するタンク等も不要になる。In the present invention in which the variable volume body is formed of the bag-shaped member as described above, it is preferable that the bag-shaped member is formed of an elastic material so as to have a restoring force in the expansion direction. is there. That is, when the bag-shaped member itself does not have a restoring force in the expansion direction, in order to inflate the bag-shaped member before the landing operation of each leg, the fluid supply device positively Supplying a compressive fluid into the bag-shaped member,
Alternatively, since it is necessary to urge the bag-shaped member in the expansion direction by a spring or the like other than the bag-shaped member, the number of constituent elements of the landing shock absorbing device tends to increase. On the other hand, when the bag-shaped member itself has a restoring force in the expansion direction, the bag-shaped member can suck the external compressive fluid while expanding due to the restoring force. The number of components of the floor shock absorber can be reduced and the structure can be simplified. In particular, when air is used as the compressive fluid and the air is moved into and out of the bag-shaped member, the tank for storing the compressible fluid supplied to the bag-shaped member is not necessary. become.

【００１５】また、前記袋状部材は複数設けられている
ことが好ましい。これによれば、脚体の着床動作の際
に、床の形状等によらずに、少なくとも一つの袋を床に
接地させて、衝撃荷重を軽減することができる。また、
特に、脚体に作用する床反力を６軸力センサ等により検
出し、水平方向の軸回りの検出モーメントを所定の目標
モーメントに追従させるように足平機構の位置及び姿勢
を制御する（足平機構の位置及び姿勢の所謂コンプライ
アンス制御を行う）ことにより、ロボットの姿勢の安定
性を確保するような場合には、複数の袋状部材のいずれ
かの接地により、水平方向の軸回りのモーメントを足平
機構に作用させることができる。このため、上記のコン
プライアンス制御によって、ロボットの姿勢の安定化を
効果的に確保することができ、脚体に作用する床反力を
早期に定常化できる。Further, it is preferable that a plurality of the bag-shaped members are provided. According to this, at the time of the landing operation of the legs, at least one bag can be grounded on the floor regardless of the floor shape or the like, and the impact load can be reduced. Also,
In particular, the floor reaction force acting on the leg is detected by a 6-axis force sensor or the like, and the position and posture of the foot mechanism are controlled so that the detected moment around the horizontal axis follows a predetermined target moment (foot). In order to ensure the stability of the robot's posture by performing so-called compliance control of the position and posture of the flat mechanism), the moment about the horizontal axis can be obtained by grounding one of the bag-shaped members. Can act on the foot mechanism. Therefore, the compliance control described above can effectively ensure the stabilization of the posture of the robot, and the floor reaction force acting on the leg can be stabilized at an early stage.

【００１６】さらに、前記袋状部材の内部には、該袋状
部材と共に膨縮可能な多孔質体（例えばスポンジ）が収
容されていることが好適である。これによれば、袋状部
材の圧縮時に、多孔質体の孔内に侵入している圧縮性流
体が該孔の外部に流出する際に流出抵抗を生じるため、
前記流入・流出手段による袋状部材内の圧縮性流体の流
出抵抗と相まって、着床衝撃緩衝装置のダンピング効果
を高めることができる。Further, it is preferable that a porous body (for example, sponge) which can be expanded and contracted together with the bag-shaped member is accommodated inside the bag-shaped member. According to this, when the bag-shaped member is compressed, outflow resistance occurs when the compressive fluid that has entered the pores of the porous body flows out of the pores,
The damping effect of the landing shock absorbing device can be enhanced in combination with the outflow resistance of the compressive fluid in the bag-shaped member by the inflow / outflow means.

【００１７】また、本発明では、前記流入・流出手段は
前記可変容積体からの圧縮性流体の流出抵抗よりも該可
変容積体への圧縮性流体の流入抵抗を小さくするように
構成されていることが好ましい。すなわち、可変容積体
への圧縮性流体の流入抵抗を小さくすることで、可変容
積体に速やかに圧縮性流体を流入させて該可変容積体を
短時間で膨張させることができるため、各脚体の着床前
に可変容積体の膨張が不十分となるような事態を防止す
ることができ、ひいては、着床動作時の衝撃荷重を適正
に軽減することができる。さらに、流入抵抗を小さくす
ることで、可変容積体を膨張させる際のエネルギー損失
を低減し、発熱を抑えることができる。また、流出抵抗
を大きめにすることで、着床衝撃緩衝装置のダンピング
効果（運動エネルギーの減衰効果）を高めることがで
き、脚体に作用する床反力を早期に定常化できる。Further, in the present invention, the inflow / outflow means is configured to make the inflow resistance of the compressive fluid into the variable volume smaller than the outflow resistance of the compressive fluid from the variable volume. It is preferable. That is, by reducing the inflow resistance of the compressive fluid into the variable volume body, the compressive fluid can be quickly flowed into the variable volume body and the variable volume body can be expanded in a short time. It is possible to prevent the situation where the expansion of the variable capacity body becomes insufficient before landing, and it is possible to appropriately reduce the impact load during the landing operation. Further, by reducing the inflow resistance, it is possible to reduce energy loss when expanding the variable volume body and suppress heat generation. Further, by increasing the outflow resistance, the damping effect (damping effect of kinetic energy) of the landing shock absorbing device can be enhanced, and the floor reaction force acting on the leg can be stabilized early.

【００１８】また、前記流入・流出手段は前記可変容積
体内の圧力を所定の上限圧力以下に制限する上限圧力制
限手段を備えていることが好ましい。これによれば、各
脚体の着床動作の際の可変容積体の圧縮時に、該可変容
積体内の圧力が瞬時的に過剰に高い圧力となって、該脚
体に可変容積体内の圧縮性流体から却って大きな力が作
用するような事態を防止できる。さらに、可変容積体内
の圧力の上限を制限することにより、可変容積体が過大
な圧力により、損傷してしまうような事態も防止でき
る。尚、前記上限圧力制限手段は、例えば、可変容積体
に接続したリリーフ弁により構成することができる。Further, it is preferable that the inflow / outflow means includes an upper limit pressure limiting means for limiting the pressure in the variable volume body to a predetermined upper limit pressure or less. According to this, at the time of compression of the variable volume during the landing operation of each leg, the pressure in the variable volume instantly becomes an excessively high pressure, and the leg is compressed in the variable volume. It is possible to prevent a situation in which a large force acts instead of the fluid. Furthermore, by limiting the upper limit of the pressure in the variable volume body, it is possible to prevent the variable volume body from being damaged by excessive pressure. The upper limit pressure limiting means can be constituted by, for example, a relief valve connected to the variable volume body.

【００１９】このように、上限圧力制限手段を備える本
発明では、前記上限圧力制限手段は前記上限圧力を可変
的に調整可能に設けられていることが好適である。これ
によれば、ロボットの移動形態等に応じて、脚体の着床
動作の際における可変容積体内の圧縮性流体の圧力の上
限を調整することが可能となり、ロボットの移動形態等
に合わせた緩衝効果をもたせることが可能となる。尚、
一般に、ロボットの移動速度が速いほど、各脚体の着床
時の衝撃荷重が大きくなりやすいので、その衝撃荷重を
効果的に軽減するためには、ロボットの移動速度が速い
ほど、前記上限圧力を高くするように該上限圧力を調整
することが好ましい。As described above, in the present invention including the upper limit pressure limiting means, it is preferable that the upper limit pressure limiting means is provided so as to variably adjust the upper limit pressure. According to this, it becomes possible to adjust the upper limit of the pressure of the compressive fluid in the variable volume body during the landing operation of the legs according to the movement form of the robot, etc. It becomes possible to have a buffering effect. still,
Generally, the higher the moving speed of the robot is, the larger the impact load at the time of landing of each leg becomes. Therefore, in order to effectively reduce the impact load, the higher the moving speed of the robot is, It is preferable to adjust the upper limit pressure so that

【００２０】また、本発明では、前記流入・流出手段は
前記可変容積体からの圧縮性流体の流出抵抗を可変的に
調整可能に設けられていることが好適である。これによ
れば、ロボットの移動形態等に応じて、脚体の着床動作
の際における可変容積体内の圧縮性流体の圧力の変化の
特性を調整することが可能となる。尚、一般に、ロボッ
トの移動速度が速いほど、各脚体の着床時の衝撃荷重が
大きくなりやすいので、その衝撃荷重を効果的に軽減す
るためには、ロボットの移動速度が速いほど、前記流出
抵抗を大きくすることが好ましい。また、流出抵抗の調
整は、可変容積体から圧縮性流体を流出させる通路に電
磁比例弁等の可変絞り弁を設けることで、行うことが可
能である。Further, in the present invention, it is preferable that the inflow / outflow means is provided so as to variably adjust the outflow resistance of the compressive fluid from the variable volume body. According to this, it is possible to adjust the characteristic of the change in the pressure of the compressive fluid in the variable volume body during the landing operation of the leg according to the movement mode of the robot. In general, the higher the moving speed of the robot, the larger the impact load at the time of landing of each leg. Therefore, in order to effectively reduce the impact load, the faster the robot moves, the more It is preferable to increase the outflow resistance. The outflow resistance can be adjusted by providing a variable throttle valve such as an electromagnetic proportional valve in the passage through which the compressive fluid flows out from the variable volume body.

【００２１】また、本発明では、前記流入・流出手段は
前記可変容積体からの圧縮性流体の流出と該可変容積体
への圧縮性流体の流入とを、各別の独立した流通路を介
して行うようにしてもよいが、前記可変容積体に連通す
る共通の流通路を介して行うことが好適である。これに
よれば、流入・流出手段の構成を簡略なものにすること
ができる。尚、前記圧縮性流体を可変容積体に流入させ
る流通路と、可変容積体から流出させる流通路とはその
全部が共通でなくともよく、一部が共通のものであって
もよい。また、それらの流通路には、必要に応じて逆止
弁等の弁が設けられていてもよい。Further, in the present invention, the inflow / outflow means performs the outflow of the compressive fluid from the variable volume body and the inflow of the compressible fluid into the variable volume body via separate independent flow passages. However, it is preferable to perform it through a common flow passage communicating with the variable volume body. According to this, the structure of the inflow / outflow means can be simplified. The flow passage for allowing the compressive fluid to flow into the variable volume body and the flow passage for causing the compressive fluid to flow out from the variable volume body do not have to be all in common, and some of them may be in common. Further, a valve such as a check valve may be provided in those flow passages, if necessary.

【００２２】また、本発明では、前記圧縮性流体は気体
であり、前記流入・流出手段は、前記可変容積体の膨張
状態での該可変容積体内の圧力を大気圧よりも大きくす
る手段を備えていることが好ましい。これによれば、各
脚体の着床動作の際に可変容積体内の圧縮性流体の圧力
が高圧なものとなって、圧縮性流体の流出抵抗を高める
ことができるため、本発明の衝撃緩衝装置のダンピング
効果を高めることができる。また、例えば可変容積体自
身が膨張方向への復元力を持たない場合や、該可変容積
体を膨張方向に付勢するスプリング等の手段を備えない
場合であっても、該可変容積体への圧縮性流体の流入に
より該可変容積体を膨張させることができる。Further, in the present invention, the compressive fluid is a gas, and the inflow / outflow means includes means for increasing the pressure in the variable volume body in the expanded state of the variable volume body to be greater than atmospheric pressure. Preferably. According to this, the pressure of the compressive fluid in the variable volume body becomes high during the landing operation of each leg, and the outflow resistance of the compressible fluid can be increased. The damping effect of the device can be enhanced. Further, for example, even when the variable volume itself does not have a restoring force in the expansion direction, or even when it is not provided with means such as a spring for urging the variable volume in the expansion direction, The variable volume can be expanded by the inflow of the compressive fluid.

【００２３】このように、膨張状態での可変容積体内の
圧力を大気圧よりも大きくするようにしたときには、前
記可変容積体の容積を所定の上限容積以下に制限する手
段を備えることが好適である。これによれば、該可変容
積体が前記上限容積まで膨張した状態において、該可変
容積体内の圧力と大気圧との圧力差によって、該可変容
積体に予圧が与えられることとなる。このため、各脚体
の着床動作の際に、可変容積体内の圧力の上昇が迅速に
なり、その結果、該着床時の衝撃荷重のピークを低く抑
えることが可能となる。従って、該衝撃荷重の軽減効果
を高めることができる。As described above, when the pressure in the variable volume body in the expanded state is set to be higher than the atmospheric pressure, it is preferable to provide means for limiting the volume of the variable volume body to a predetermined upper limit volume or less. is there. According to this, in the state where the variable volume has expanded to the upper limit volume, a preload is applied to the variable volume due to the pressure difference between the pressure inside the variable volume and the atmospheric pressure. Therefore, during the landing operation of each leg, the pressure in the variable volume increases rapidly, and as a result, it is possible to suppress the peak of the impact load at the time of landing. Therefore, the effect of reducing the impact load can be enhanced.

【００２４】また、本発明では、前記圧縮性流体を空気
とし、前記流入・流出手段は、前記可変容積体の圧縮時
に該可変容積体内の空気を大気中に流出させると共に前
記可変容積体の膨張時に大気中の空気を前記可変容積体
内に流入させる手段を備えていることが好ましい。これ
によれば、圧縮性流体を貯蔵するタンク等が不要となる
と共に、可変容積体からの空気の流入時や流出時に、そ
の流入抵抗や流出抵抗によって生じる熱を大気中に逃が
すことができる。その結果、可変容積体やその内部の空
気に熱が蓄積するような事態を防止することができる。
ひいては、着床衝撃緩衝装置のダンピング特性等を安定
化することができる。Further, in the present invention, the compressive fluid is air, and the inflow / outflow means causes the air in the variable volume body to flow out into the atmosphere when the variable volume body is compressed and expands the variable volume body. It is sometimes preferable to provide means for allowing air in the atmosphere to flow into the variable volume body. According to this, a tank or the like for storing the compressible fluid is not required, and heat generated by the inflow resistance or the outflow resistance when air inflows or outflows from the variable volume body can be released to the atmosphere. As a result, it is possible to prevent a situation in which heat is accumulated in the variable volume body and the air inside the variable volume body.
As a result, the damping characteristics and the like of the landing shock absorbing device can be stabilized.

【００２５】[0025]

【発明の実施の形態】本発明の第１実施形態を図１〜図
５を参照して説明する。図１は本実施形態の脚式移動ロ
ボット１の全体の基本構成を模式化して示す側面図であ
る。同図示のように、本実施形態の脚式移動ロボット１
は、例えば、その上体２（胴体）の下端部から延設され
た左右一対（２本）の脚体３，３を備える二足移動ロボ
ットである。尚、上体２には、腕体や頭部が取り付けら
れていてもよい。DETAILED DESCRIPTION OF THE INVENTION A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a side view schematically showing the basic structure of the entire legged mobile robot 1 of this embodiment. As shown in the figure, the legged mobile robot 1 of the present embodiment
Is a bipedal mobile robot including a pair of left and right legs (2) extending from the lower end of the upper body 2 (body). The upper body 2 may be attached with an arm or a head.

【００２６】各脚体３は、大腿部４、下腿部５、足平機
構６を上体２の下端部から股関節７、膝関節８、足首関
節９を順番に介して連接して構成されている。より詳し
く言えば、各脚体３は、上体２の下端部から股関節７を
介して大腿部４を延設すると共に、この大腿部４の先端
部に膝関節８を介して下腿部５を連結し、さらに、この
下腿部５の先端部に足首関節９を介して足平機構６を連
結した構成とされている。そして、各脚体３はその最先
端側に存する足平機構６を介して床Ａに接地可能とさ
れ、その接地により上体２を支持する。この場合、各脚
体３の股関節７は、ロボット１の上下方向、前後方向、
左右方向の３軸回りの回転動作が可能とされ、膝関節８
は、左右方向の１軸回りの回転動作が可能とされ、足首
関節９は、前後方向及び左右方向の２軸回りの回転動作
が可能とされている。これらの各関節７〜９の回転動作
により、各脚体３は人間の脚体とほぼ同様の運動を行う
ことができるようになっている。Each leg 3 is constructed by connecting a thigh 4, a leg 5, and a foot mechanism 6 from the lower end of the upper body 2 through a hip joint 7, a knee joint 8 and an ankle joint 9 in order. Has been done. More specifically, in each leg 3, the thigh 4 is extended from the lower end of the upper body 2 via the hip joint 7, and the lower thigh is attached to the tip of the thigh 4 via the knee joint 8. The part 5 is connected, and further, the foot mechanism 6 is connected to the tip of the lower leg 5 via the ankle joint 9. Then, each leg 3 can be grounded to the floor A via the foot mechanism 6 existing on the most distal side thereof, and the upper body 2 is supported by the grounding. In this case, the hip joints 7 of the legs 3 are arranged in
It is possible to rotate about three axes in the left-right direction, and the knee joint 8
Can rotate about one axis in the left-right direction, and the ankle joint 9 can rotate about two axes in the front-rear direction and the left-right direction. By rotating these joints 7 to 9, each leg 3 can perform almost the same movement as a human leg.

【００２７】また、各脚体３の各関節７〜９には、その
各軸回りの回転動作を行なうためのアクチュエータとし
ての電動モータ（図示しない）が設けられている。さら
に、ロボット１の上体２には、該ロボット１の脚体３，
３の動作制御（各関節７〜９の電動モータの動作制御）
を行う制御装置１０や、ロボット１の動作用電源として
の蓄電装置１１等が搭載されている。制御装置１０はマ
イクロコンピュータ等を含む電子回路により構成された
ものである。この場合、制御装置１０は、ロボット１の
移動に際しては、人間と同様に、両脚体３，３の離床・
着床動作を交互に繰り返すことにより、ロボット１を移
動させるようにしている。その離床・着床動作の繰り返
しは、より詳しく言えば、次のような動作である。すな
わち、両脚体３，３のうちのいずれか一方を支持脚と
し、他方を遊脚とする。そして、支持脚側の脚体３の足
平機構６を床Ａに接地させた状態で、遊脚側の脚体３の
足平機構６を床Ａ上から離反させて空中に持ち上げる。
さらに、その遊脚側の脚体３の足平機構６を空中で移動
させた後、所望の場所に接地させる。そして、その接地
させた遊脚側の脚体３を新たに支持脚とすると共に、今
まで支持脚となっていた脚体３を新たに遊脚とし、その
新たに遊脚とされた脚体３を上記と同様に動かす。この
ような脚体３，３の動作の繰り返しが、ロボット１の移
動の際の両脚体３，３の離床・着床動作の繰り返しであ
る。Further, each joint 7 to 9 of each leg 3 is provided with an electric motor (not shown) as an actuator for rotating about its respective axis. Further, the upper body 2 of the robot 1 is provided with legs 3 of the robot 1.
3 operation control (operation control of the electric motor of each joint 7-9)
A control device 10 for performing the above, a power storage device 11 as a power source for operating the robot 1, and the like are mounted. The control device 10 is composed of an electronic circuit including a microcomputer and the like. In this case, when the robot 1 moves, the control device 10 separates the legs 3 and 3 from the floor, like a human.
The robot 1 is moved by alternately repeating the landing operation. More specifically, the repetition of the bed leaving / landing operation is as follows. That is, one of the legs 3 and 3 serves as a support leg and the other serves as a free leg. Then, with the foot mechanism 6 of the leg body 3 on the support leg side being in contact with the floor A, the foot mechanism 6 of the leg body 3 on the free leg side is separated from the floor A and lifted in the air.
Further, after the foot mechanism 6 of the leg 3 on the free leg side is moved in the air, it is grounded at a desired place. Then, the grounded leg 3 on the side of the swing leg is newly used as a support leg, and the leg 3 that has been the support leg up to now is newly set as the swing leg. Move 3 as above. The repetition of the movements of the legs 3 and 3 is the repetition of the leaving and landing movements of the legs 3 and 3 when the robot 1 moves.

【００２８】各脚体３の足平機構６の構成を図２及び図
３を参照してさらに説明する。図２は足平機構６の側面
示の断面図、図３は該足平機構６の底面側から見た平面
図である。The structure of the foot mechanism 6 of each leg 3 will be further described with reference to FIGS. FIG. 2 is a side sectional view of the foot mechanism 6, and FIG. 3 is a plan view of the foot mechanism 6 viewed from the bottom side.

【００２９】足平機構６は、大略平板状の足平プレート
部材１２を骨格部材として備えている。この足平プレー
ト部材１２は、その前端部（つま先部）と後端部（踵
部）とは若干上方に湾曲されているが、他の部分は平坦
な平板状になっている。また、足平プレート部材１２の
上面部には、横断面方形状の筒部材１３がその軸心を上
下方向に向けて固設されている。この筒部材１３の内部
には、該筒部材１３の内周面に沿うようにして略上下方
向に移動可能に設けられた可動板１４が設けられ、該可
動板１４が足首関節９に６軸力センサ１５を介して連結
されている。該６軸力センサ１５は足平機構６に作用す
る床反力（詳しくは、前後、左右、及び上下方向の３軸
方向の並進力、並びに、その３軸回りのモーメント）を
検出するものであり、その検出出力は制御装置１０に入
力される。The foot mechanism 6 includes a foot plate member 12 having a substantially flat plate shape as a skeleton member. The foot plate member 12 has a front end portion (toe portion) and a rear end portion (heel portion) which are slightly curved upward, but the other portions are flat and flat. Further, a tubular member 13 having a rectangular cross section is fixedly mounted on the upper surface of the foot plate member 12 with its axis oriented in the vertical direction. A movable plate 14 is provided inside the tubular member 13 so as to be movable in a substantially vertical direction along the inner peripheral surface of the tubular member 13. The movable plate 14 is attached to the ankle joint 9 by six axes. It is connected via the force sensor 15. The 6-axis force sensor 15 detects a floor reaction force acting on the foot mechanism 6 (specifically, a translational force in three axial directions including front-back, left-right, and up-down directions, and a moment around the three axes). Yes, the detection output is input to the control device 10.

【００３０】また、可動板１４は、その下面の周縁部が
ばね、ゴム等の弾性材からなる複数の弾性部材１６（図
ではばねとして記載している）を介して足平プレート部
材１２の上面部に連結されている。従って、足平プレー
ト部材１２は、弾性部材１６、可動板１４及び６軸力セ
ンサ１５を介して足首関節９に連結されている。尚、筒
部材１３の内部（可動板１４の下側の空間）は、図示を
省略する穴や隙間を介して大気側に開放されており、大
気中の空気が筒部材１３の内部に入出自在となってい
る。Further, the movable plate 14 has an upper surface of the foot plate member 12 via a plurality of elastic members 16 (illustrated as springs in the drawing) made of an elastic material such as a spring or rubber at a peripheral portion of a lower surface thereof. Connected to the department. Therefore, the foot plate member 12 is connected to the ankle joint 9 via the elastic member 16, the movable plate 14, and the 6-axis force sensor 15. The inside of the tubular member 13 (the space below the movable plate 14) is open to the atmosphere side through holes and gaps (not shown), and the air in the atmosphere enters and leaves the tubular member 13. It is in existence.

【００３１】足平プレート部材１２の底面（下面）に
は、接地部材１７が取着されている。該接地部材１７
は、足平機構６の着床状態で、該足平プレート部材１２
と床面との間に介在させる弾性部材（床面に直接的に接
触する弾性部材）であり、本実施形態では、足平プレー
ト部材１２の接地面の四隅（足平プレート部材１２のつ
ま先部の両側部並びに踵部の両側部）に固着されてい
る。また、接地部材１７は、本実施形態では、比較的軟
質のゴム材から成る軟質層１７ａと、比較的硬質のゴム
材から成る硬質層１７ｂとを上下に重合してなる２層構
造に形成され、硬質層１７ｂが、脚体３の着床時に直接
的に床面に接触する接地面部として最下面側に設けられ
ている。A grounding member 17 is attached to the bottom surface (lower surface) of the foot plate member 12. The ground member 17
Is the foot plate member 12 when the foot mechanism 6 is on the floor.
And the floor surface are elastic members (elastic members that directly contact the floor surface), and in the present embodiment, the four corners of the ground surface of the foot plate member 12 (the toe portions of the foot plate member 12). On both sides and both sides of the heel). Further, in the present embodiment, the grounding member 17 is formed in a two-layer structure in which a soft layer 17a made of a relatively soft rubber material and a hard layer 17b made of a relatively hard rubber material are vertically stacked. The hard layer 17b is provided on the lowermost surface side as a grounding surface portion that comes into direct contact with the floor surface when the legs 3 land on the floor.

【００３２】足平機構６には、上記の構成の他、本発明
に係わる着床衝撃緩衝装置１８が備えられている。この
着床衝撃緩衝装置１８は、足平プレート部材１２の底面
に取着された袋状部材１９と、該袋状部材１９の内部に
対して圧縮性流体としての空気（大気中の空気）を入出
させるための流通路２０とを備えている。The foot mechanism 6 is provided with a landing shock absorbing device 18 according to the present invention in addition to the above structure. This landing shock absorbing device 18 applies a bag-like member 19 attached to the bottom surface of the foot plate member 12 and air (compressed air) as a compressive fluid to the inside of the bag-like member 19. And a flow passage 20 for letting in and out.

【００３３】袋状部材１９は、その周囲に前記接地部材
１７が存するようにして、足平プレート部材１２の底面
の大略中央部に設けられている。この袋状部材１９は、
ゴム等の弾性材により変形自在に構成されており、外力
による弾性変形が生じていない自然状態では、図２に実
線で示すように、上方に開口した円筒容器形状を呈す
る。そして、該袋状部材１９は、その開口端部が全周に
わたって足平プレート部材１２の底面に固着され、該足
平プレート部材１２により閉蓋されている。また、袋状
部材１９は、円筒容器形状を呈する自然状態では、該袋
状部材１９の底部が前記接地部材１７よりも下方に突出
するように設けられている。つまり、該袋状部材１９の
高さ（足平プレート部材１２の下面から袋状部材１９の
底部までの距離）は、接地部材１７の厚さよりも大きい
ものとされている。従って、足平プレート部材１２が接
地部材１７を介して接地した状態（脚体３の着床状態）
では、袋状部材１９は、図２に仮想線で示すように、あ
るいは図１で着床状態の脚体３（図ではロボット１の前
方側の脚体３）に関して示すように、床反力により袋状
部材１９の高さ方向に圧縮される。The bag-shaped member 19 is provided at the approximate center of the bottom surface of the foot plate member 12 such that the ground member 17 is present around the bag-shaped member 19. This bag-shaped member 19
It is configured to be deformable by an elastic material such as rubber, and in a natural state where elastic deformation due to an external force does not occur, as shown by the solid line in FIG. The open end of the bag-shaped member 19 is fixed to the bottom surface of the foot plate member 12 over the entire circumference, and is closed by the foot plate member 12. Further, the bag-shaped member 19 is provided so that the bottom portion of the bag-shaped member 19 projects below the ground contact member 17 in a natural state in which the bag-shaped member 19 has a cylindrical container shape. That is, the height of the bag-shaped member 19 (the distance from the lower surface of the foot plate member 12 to the bottom of the bag-shaped member 19) is larger than the thickness of the ground contact member 17. Therefore, a state in which the foot plate member 12 is grounded via the grounding member 17 (a landing state of the leg 3)
Then, the bag-shaped member 19 has a floor reaction force as shown by an imaginary line in FIG. 2 or as shown in FIG. Thus, the bag-shaped member 19 is compressed in the height direction.

【００３４】尚、本実施形態では、袋状部材１９が円筒
容器形状を呈する自然状態は該袋状部材１９の膨張状態
である。そして、袋状部材１９は、弾性材により構成さ
れているため、圧縮されたとき、自然状態の形状（円筒
容器形状）への形状復元力を有する。In this embodiment, the natural state in which the bag-shaped member 19 has a cylindrical container shape is the expanded state of the bag-shaped member 19. Since the bag-shaped member 19 is made of an elastic material, it has a shape restoring force to a natural shape (cylindrical container shape) when compressed.

【００３５】前記流通路２０は、本発明における流入・
流出手段を構成するものであり、本実施形態では、袋状
部材１９の内部と前記筒部材１３の内部とを連通させる
ように足平プレート部材１２に穿設された流通孔であ
る。この場合、前述のように、筒部材１３の内部は大気
側に開放されているので、該流通路２０は、袋状部材１
９の内部を大気側に連通させていることとなる。従っ
て、袋状部材１９の内部には、大気中の空気が流通路２
０を介して入出自在となっており、該袋状部材１９の膨
張状態（自然状態）では、該袋状部材１９内には空気が
充填され、その内部の圧力は大気圧と同等になる。ま
た、流通路２０は絞り通路となっており、袋状部材１９
の内部に空気が入出する際には流体抵抗を生じるように
なっている。The flow passage 20 is used for the inflow / inflow of the present invention.
It constitutes an outflow means, and in the present embodiment, it is a flow hole formed in the foot plate member 12 so as to communicate the inside of the bag-shaped member 19 and the inside of the tubular member 13. In this case, as described above, since the inside of the tubular member 13 is open to the atmosphere side, the flow passage 20 has the bag-shaped member 1
The inside of 9 is communicated with the atmosphere side. Therefore, the air in the atmosphere is allowed to flow through the flow passage 2 inside the bag-shaped member 19.
The bag-shaped member 19 can be freely moved in and out through 0, and when the bag-shaped member 19 is in an expanded state (natural state), the bag-shaped member 19 is filled with air, and the internal pressure becomes equal to the atmospheric pressure. . Further, the flow passage 20 is a throttle passage, and the bag-shaped member 19
A fluid resistance is created when air enters and leaves the interior of the.

【００３６】次に、本実施形態で、ロボット１を移動さ
せるための脚体３の基本的な動作制御について説明す
る。尚、この動作制御は、本願出願人による特開平１０
−２７７９６９号公報等にて詳細に説明されているの
で、ここでは概要を説明する。Next, the basic operation control of the leg 3 for moving the robot 1 in this embodiment will be described. Incidentally, this operation control is performed by the applicant of the present invention, as disclosed in Japanese Patent Laid-Open No.
Since it is described in detail in Japanese Patent Publication No. 277969, etc., an outline will be described here.

【００３７】ロボット１の上体２に搭載されている前記
制御装置１０は、図４のフローチャートに示す処理を所
定の制御サイクルで実行する。すなわち、制御装置１０
は、まず、ロボット１の歩容（脚体３の足運びの形態）
の切替りタイミングであるか否かを判断する（ＳＴＥＰ
１）。ここで、歩容の切替りタイミングは、支持脚の切
替りタイミングであり、例えば遊脚側の脚体３が接地し
た時（本実施形態では、該脚体３の足平機構６の袋状部
材１９が接地した時）のタイミングである。このタイミ
ングの判断は、例えば前記６軸力センサ１５の出力等に
基づいてなされる。The control device 10 mounted on the upper body 2 of the robot 1 executes the processing shown in the flowchart of FIG. 4 in a predetermined control cycle. That is, the control device 10
First, the gait of the robot 1 (the form of the foot 3's footing)
It is judged whether or not it is the switching timing of (STEP
1). Here, the gait switching timing is the switching timing of the support leg, and for example, when the leg 3 on the free leg side comes into contact with the ground (in the present embodiment, the foot mechanism 6 of the leg 3 has a bag shape). (When the member 19 is grounded). The determination of this timing is made based on, for example, the output of the 6-axis force sensor 15.

【００３８】そして、ＳＴＥＰ１で歩容の切替りタイミ
ングである場合には、制御装置１０は、制御処理用時刻
ｔを「０」に初期化した後（ＳＴＥＰ２）、外部から与
えられるロボット１の動作指令や、ロボット１のあらか
じめ定められた移動計画（どのようなタイミングでロボ
ット１をどのように動かすか等を定めた計画）に基づい
て、歩容パラメータを更新する（ＳＴＥＰ３）。ここ
で、歩容パラメータは、ロボット１の１歩分の目標歩容
を規定するパラメータであり、例えば、歩行、走行等の
ロボット１の移動モード、ロボット１の移動時の歩幅、
移動速度（歩行周期）等のパラメータである。また、ロ
ボット１の目標歩容は、上体２の目標位置及び姿勢の軌
道、各脚体３の足平機構６の目標位置及び姿勢の軌道、
目標全床反力（両脚体３，３にそれぞれ作用する床反力
の合力の目標値）、目標ＺＭＰ（全床反力の作用点の目
標位置）の軌道等から構成されるものである。尚、目標
ＺＭＰは、より詳しくは、上体２の目標位置及び姿勢の
軌道、及び各脚体３の足平機構６の目標位置及び姿勢の
軌道により定まるロボット１の目標運動パターンに応じ
てロボット１に作用する慣性力と重力との合力に動的に
平衡するような全床反力（該合力と同一作用線上の全床
反力）の作用点の目標位置であり、その全床反力の鉛直
方向軸回りのモーメント以外のモーメント（水平方向の
軸回りのモーメント）が「０」になるような床上の点
（Zero Moment Point）の目標位置である。If the gait switching timing is reached in STEP1, the control device 10 initializes the control processing time t to "0" (STEP2), and then the operation of the robot 1 given from the outside. The gait parameters are updated based on a command and a predetermined movement plan of the robot 1 (a plan that defines at what timing the robot 1 is to be moved and how) (STEP 3). Here, the gait parameter is a parameter that defines a desired gait for one step of the robot 1, and includes, for example, a movement mode of the robot 1 such as walking and running, a stride when the robot 1 moves,
Parameters such as moving speed (walking cycle). The desired gait of the robot 1 is the trajectory of the desired position and posture of the upper body 2, the trajectory of the desired position and posture of the foot mechanism 6 of each leg 3,
The target total floor reaction force (the target value of the resultant force of the floor reaction forces acting on the two legs 3 and 3), the target ZMP (the target position of the action point of the total floor reaction force), and the like are configured. More specifically, the target ZMP is a robot according to a target motion pattern of the robot 1 determined by the target position and posture trajectory of the upper body 2 and the target position and posture trajectory of the foot mechanism 6 of each leg 3. 1 is the target position of the action point of the total floor reaction force (total floor reaction force on the same action line as the resultant force) that dynamically balances the resultant force of the inertial force and gravity acting on 1. Is a target position of a point (Zero Moment Point) on the floor such that a moment other than the moment about the vertical axis (a moment about the horizontal axis) becomes “0”.

【００３９】制御装置１０は、上記のようにＳＴＥＰ３
で新たな歩容パラメータを設定した後、あるいは、前記
ＳＴＥＰ１で歩容の切替りタイミングでない場合には、
ＳＴＥＰ４の処理を実行し、現在の制御サイクルにおけ
る目標歩容としての瞬時目標歩容を現在設定されている
歩容パラメータに基づいて求める。すなわち、現在設定
されている歩容パラメータにより規定されるロボット１
の１歩分の目標歩容のうち、現在の制御サイクル（現在
時刻ｔ）における目標歩容（現在時刻ｔにおける上体２
の目標位置及び姿勢、各足平機構６の目標位置及び姿
勢、目標全床反力、目標ＺＭＰ）が瞬時目標歩容として
求められる。As described above, the control unit 10 makes STEP3
After setting a new gait parameter in step 1, or when it is not the gait switching timing in STEP 1,
The processing of STEP4 is executed, and the instantaneous desired gait as the desired gait in the current control cycle is obtained based on the currently set gait parameters. That is, the robot 1 defined by the gait parameters currently set
Of the desired gait for one step, the desired gait in the current control cycle (current time t) (body 2 at current time t)
The desired position and posture, the desired position and posture of each foot mechanism 6, the desired total floor reaction force, and the desired ZMP) are obtained as the instantaneous desired gait.

【００４０】次いで、制御装置１０は、ＳＴＥＰ５にお
いて、複合コンプライアンス動作の制御処理を実行し、
ＳＴＥＰ４で求めた瞬時目標歩容のうち、各足平機構６
の目標位置及び姿勢を修正する。この複合コンプライン
アンス動作の処理では、上体２の目標姿勢（目標傾斜角
度）と、図示しないジャイロセンサや加速度センサ等の
出力により検出される上体２の実傾斜角度との偏差に応
じて、上体２をその目標姿勢に復元させるために目標Ｚ
ＭＰ（目標全床反力の作用点）回りに発生させるべき全
床反力のモーメント成分（以下、補償全床反力モーメン
トという）が求められる。ここで、求められる補償全床
反力モーメントは、水平方向の軸回りのモーメントであ
り、ロボット１の前後方向の軸回りのモーメント成分
と、左右方向の軸回りのモーメント成分とからなる。そ
して、制御装置１０は、各脚体３の６軸力センサ１５に
よりそれぞれ検出される各脚体３毎の実床反力の合力
（実全床反力）を、接地状態の足平機構６の接地性を確
保することができる範囲内において、上記補償全床反力
モーメントと目標全床反力との合力に追従させるように
各足平機構６の目標位置及び姿勢を修正する。この場
合、目標全床反力の作用点としての前記目標ＺＭＰで
は、目標全床反力の水平方向（前後方向及び左右方向）
の軸回りのモーメント成分は「０」である。従って、各
足平機構６の目標位置及び姿勢の修正は、実全床反力の
水平方向の軸回りのモーメント成分を補償全床反力モー
メントに追従させるように行われる。尚、このような各
足平機構６の目標位置及び姿勢の修正に際しては、各足
平機構６の接地時における前記弾性部材１６及び接地部
材１７の弾性変形の影響を補償するように、各足平機構
６の目標位置及び姿勢が修正される。Then, in STEP 5, the control device 10 executes the control processing of the composite compliance operation,
Of the instantaneous desired gait obtained in STEP 4, each foot mechanism 6
Correct the target position and attitude of. In the process of the composite compliment motion, the deviation between the target posture (target tilt angle) of the body 2 and the actual tilt angle of the body 2 detected by the output of a gyro sensor, an acceleration sensor or the like (not shown) is determined. , Z to restore upper body 2 to its desired posture
The moment component of the total floor reaction force to be generated around MP (the point of action of the desired total floor reaction force) (hereinafter referred to as the compensation total floor reaction force moment) is obtained. Here, the calculated total floor reaction force moment is a moment about the axis in the horizontal direction, and is composed of a moment component about the axis in the front-rear direction of the robot 1 and a moment component about the axis in the left-right direction. Then, the control device 10 determines the resultant force (actual total floor reaction force) of the actual floor reaction force of each leg 3 detected by the 6-axis force sensor 15 of each leg 3 as the foot mechanism 6 in the grounded state. The target position and posture of each foot mechanism 6 are corrected so as to follow the resultant force of the compensating total floor reaction force moment and the desired total floor reaction force within the range in which the ground contact property can be secured. In this case, in the target ZMP as the point of action of the desired total floor reaction force, the desired total floor reaction force is in the horizontal direction (front-back direction and left-right direction).
The moment component around the axis of is 0. Therefore, the correction of the target position and posture of each foot mechanism 6 is performed so that the moment component of the actual total floor reaction force around the horizontal axis follows the compensation total floor reaction force moment. When correcting the target position and posture of each foot mechanism 6 as described above, each foot is adjusted so as to compensate for the effect of elastic deformation of the elastic member 16 and the ground member 17 when the foot mechanism 6 touches the ground. The target position and orientation of the flat mechanism 6 are corrected.

【００４１】次いで、制御装置１０は、前記ＳＴＥＰ４
で求められた瞬時目標歩容のうちの上体２の目標位置及
び姿勢と、ＳＴＥＰ５で修正された各足平機構６の目標
位置及び姿勢とから、ロボット１の幾何学モデル（剛体
リンクモデル）に基づくキネマティスク演算処理によっ
て、両脚体３，３の各関節７〜９の目標変位量（より詳
しくは各関節７〜９の各軸回りの目標回転角）を求める
（ＳＴＥＰ６）。そして、制御装置１０は、この求めた
目標変位量に各関節７〜９の実変位量を追従させるよう
に、各関節７〜９を駆動する電動モータ（図示しない）
のトルクを制御する（ＳＴＥＰ７）。尚、この場合、各
関節７〜９の実変位量（各関節７〜９の各軸回りの実回
転角）は、各関節７〜９に備えられるロータリエンコー
ダ等により検出される。さらに、制御装置１０は、制御
処理用時刻ｔを所定時間Δｔ（制御サイクルの周期に相
当する時間）だけ増加させ（ＳＴＥＰ８）、図４の処理
を終了する。Next, the controller 10 causes the STEP 4
The geometric model of the robot 1 (rigid body link model) based on the desired position and posture of the upper body 2 of the instantaneous desired gait obtained in The target displacement amount of each joint 7-9 of both legs 3 and 3 (more specifically, the target rotation angle around each axis of each joint 7-9) is obtained by the kinematics calculation process based on (STEP 6). Then, the control device 10 drives an electric motor (not shown) for each joint 7 to 9 so that the actual displacement amount of each joint 7 to 9 follows the calculated target displacement amount.
The torque of is controlled (STEP 7). In this case, the actual displacement amount of each joint 7-9 (actual rotation angle of each joint 7-9 about each axis) is detected by a rotary encoder or the like provided in each joint 7-9. Further, the control device 10 increases the control processing time t by a predetermined time Δt (time corresponding to the cycle of the control cycle) (STEP 8), and ends the processing in FIG.

【００４２】以上のような制御装置１０の制御処理によ
り、ロボット１は、その姿勢の安定性を自律的に確保し
ながら、目標歩容に追従するようにして移動することと
なる。By the control processing of the control device 10 as described above, the robot 1 moves so as to follow the desired gait while autonomously ensuring the stability of its posture.

【００４３】次に、本実施形態の装置の作動、特に前記
着床衝撃緩衝装置１８の作動及び効果を説明する。前述
した制御装置１０の制御処理によるロボット１の移動時
に、遊脚側の脚体３が着床する際には、まず、前記袋状
部材１９が接地する。そして、この袋状部材１９が脚体
３の着床動作（足平機構６の足平プレート部材１２を前
記接地部材１７を介して接地させようとする脚体３の運
動）の進行に伴い該袋状部材１９に作用する床反力によ
り、袋状部材１９が圧縮される。Next, the operation of the apparatus of this embodiment, particularly the operation and effect of the landing shock absorbing device 18, will be described. When the robot 3 moves by the control processing of the control device 10 described above, when the leg 3 on the idle leg side lands, first, the bag-shaped member 19 is grounded. As the bag-like member 19 progresses in the landing operation of the leg body 3 (movement of the leg body 3 that attempts to ground the foot plate member 12 of the foot mechanism 6 via the grounding member 17), The bag-shaped member 19 is compressed by the floor reaction force acting on the bag-shaped member 19.

【００４４】このとき、袋状部材１９が圧縮されるに伴
い、該袋状部材１９内の空気が圧縮・加圧され、前記流
通路２０を介して流出する。このとき、空気の流出抵抗
が流通路２０で発生する。これにより脚体３の運動エネ
ルギーが減衰する。また、この場合、圧縮性流体である
空気のばね性によって、脚体３の運動エネルギーの一部
が該空気の弾性エネルギーに変換されて吸収され、さら
にその弾性エネルギーが、袋状部材１９からの空気の流
出抵抗によって消散する。これにより、袋状部材１９を
介して脚体３に作用する床反力の瞬時的な急変を避けつ
つ、脚体３の着床動作時の衝撃荷重（以下、着床衝撃と
いうことがある）が軽減される。この場合、袋状部材１
９は変形自在で、床Ａの形状に沿って変形して圧縮され
るため、床Ａの形状や着床直前の足平機構６の姿勢の影
響をさほど受けることなく着床衝撃を軽減することがで
きると共に、袋状部材１９の破損等も生じ難い。At this time, as the bag-shaped member 19 is compressed, the air in the bag-shaped member 19 is compressed / pressurized and flows out through the flow passage 20. At this time, air outflow resistance is generated in the flow passage 20. As a result, the kinetic energy of the leg 3 is attenuated. Further, in this case, due to the spring property of air which is a compressible fluid, a part of the kinetic energy of the leg body 3 is converted into elastic energy of the air and absorbed, and the elastic energy from the bag-shaped member 19 is further absorbed. Dissipates due to air outflow resistance. As a result, an impact load during the landing operation of the leg 3 (hereinafter, sometimes referred to as a landing impact) while avoiding a momentary sudden change in the floor reaction force acting on the leg 3 via the bag-shaped member 19. Is reduced. In this case, the bag-shaped member 1
Since 9 is deformable and is deformed and compressed along the shape of the floor A, it is possible to reduce a landing impact without being significantly affected by the shape of the floor A and the posture of the foot mechanism 6 immediately before landing. In addition, the bag-shaped member 19 is less likely to be damaged.

【００４５】また、脚体３が離床して、袋状部材１９に
床反力が作用しなくなると、袋状部材１９の自然状態
（膨張状態）への復元力によって、該袋状部材１９が膨
張しつつ、前記流通路２０を介して大気中の空気が袋状
部材１９内に流入する。この場合、本実施形態では、袋
状部材１９の復元力は、該袋状部材１９を備えた脚体３
が遊脚となる期間内において、該袋状部材１９が圧縮状
態から自然状態に復元するように設定されいる。従っ
て、該脚体３の着床動作が再び行われる際には、袋状部
材１９は自然状態に復元している。このため、該脚体３
の着床動作が再び行われる際に、着床衝撃の軽減を適正
に行うことができる。When the leg 3 leaves the floor and the floor reaction force no longer acts on the bag-shaped member 19, the bag-shaped member 19 is restored by the restoring force of the bag-shaped member 19 to the natural state (expanded state). While inflating, air in the atmosphere flows into the bag-shaped member 19 through the flow passage 20. In this case, in the present embodiment, the restoring force of the bag-shaped member 19 is the leg 3 including the bag-shaped member 19.
It is set so that the bag-shaped member 19 is restored from the compressed state to the natural state within a period in which is the free leg. Therefore, when the landing operation of the leg body 3 is performed again, the bag-shaped member 19 is restored to the natural state. Therefore, the leg 3
When the landing operation is performed again, it is possible to appropriately reduce the landing impact.

【００４６】このように着床衝撃を軽減する本実施形態
の着床衝撃緩衝装置１８は、その着床衝撃の軽減に係わ
る機能上は、図５に示すように、ばねＫ１とダンパーＤ
１とを直列に接続したものと、ばねＫ２とを並列に接続
した機構により近似される。ここで、ばねＫ１は、袋状
部材１９内の空気の圧縮ばね性によるものであり、その
ばね定数は、袋状部材１９の圧縮時の受圧面積に比例す
ると共に、袋状部材１９の高さに反比例する。また、ダ
ンパーＤ１は袋状部材１９の圧縮時に該袋状部材１９内
の空気が絞り通路である前記流通路２０を介して流出す
る際の流出抵抗によるものであり、そのダンピング効果
（運動エネルギーの減衰性）は、流通路２０の開口面積
が小さい程、強くなる。また、ばねＫ２は袋状部材１９
の膨張状態（自然状態）への復元力によるものであり、
そのばね定数は、袋状部材１９の材質、厚み等に依存す
る。The landing shock absorbing device 18 of the present embodiment for reducing the landing shock in this way has the function of reducing the landing shock, as shown in FIG.
This is approximated by a mechanism in which 1 and 1 are connected in series and a spring K2 is connected in parallel. Here, the spring K1 is due to the compression spring property of the air in the bag-shaped member 19, and its spring constant is proportional to the pressure receiving area of the bag-shaped member 19 at the time of compression and the height of the bag-shaped member 19. Inversely proportional to. Further, the damper D1 is due to the outflow resistance when the air inside the bag-shaped member 19 flows out through the flow passage 20 which is a throttle passage when the bag-shaped member 19 is compressed, and its damping effect (kinetic energy The damping property) becomes stronger as the opening area of the flow passage 20 is smaller. Further, the spring K2 is a bag-shaped member 19
Is due to the restoring force to the expanded state (natural state) of
The spring constant depends on the material and thickness of the bag-shaped member 19.

【００４７】この場合、本実施形態の着床衝撃緩衝装置
１８の前述の作動によって、脚体３の着床動作の際の脚
体３の運動エネルギーを円滑に吸収して消散させるため
には、基本的には、ばねＫ１のばね定数（袋状部材１９
の自然状態におけるばね定数）をばねＫ２のばね定数よ
りも十分に大きくしておくことが好ましい。つまり、基
本的には、袋状部材１９は、その底部の面積を比較的大
きめにしておくことが好ましく、また、袋状部材１９の
圧縮状態から自然状態（膨張状態）への復元力は比較的
弱めにしておくことが好ましい。In this case, in order to smoothly absorb and dissipate the kinetic energy of the leg 3 during the landing motion of the leg 3 by the above-described operation of the landing shock absorbing device 18 of the present embodiment, Basically, the spring constant of the spring K1 (the bag-shaped member 19
It is preferable that the spring constant in the natural state (1) is sufficiently larger than the spring constant of the spring K2. That is, basically, it is preferable that the bag-shaped member 19 has a relatively large area at the bottom, and the restoring force of the bag-shaped member 19 from the compressed state to the natural state (expanded state) is comparative. It is preferable to keep it weak.

【００４８】但し、ばねＫ１のばね定数を大きくし過ぎ
ると、脚体３の着床動作の際に袋状部材１９を介して脚
体３に作用するピーク荷重（床反力のピーク値）が大き
くなりやすい。逆に、ばねＫ１のばね定数を小さくし過
ぎると、脚体３の着床直後の床反力の振動の減衰性が低
下する。また、ばねＫ２のばね定数が小さ過ぎると、袋
状部材１９の復元力が弱くなり、特に、ロボット１の移
動速度が比較的速いときには、脚体３の離床動作後に、
次に該脚体３が着床するまでに、袋状部材１９が、自然
状態もしくはそれに近い状態まで十分に復元しない虞れ
がある。However, if the spring constant of the spring K1 is too large, the peak load (peak value of the floor reaction force) acting on the leg 3 via the bag-shaped member 19 during the landing operation of the leg 3 will be increased. Easy to grow. On the contrary, if the spring constant of the spring K1 is too small, the damping property of the vibration of the floor reaction force immediately after the landing of the leg 3 is lowered. Further, if the spring constant of the spring K2 is too small, the restoring force of the bag-shaped member 19 becomes weak. Especially, when the moving speed of the robot 1 is relatively fast, after the leg 3 leaves the floor,
There is a possibility that the bag-shaped member 19 will not be sufficiently restored to the natural state or a state close to the natural state by the time the leg body 3 is landed next.

【００４９】このため、本実施形態の着床衝撃緩衝装置
１８では、これらの点を考慮して、袋状部材１９のサイ
ズや該袋状部材１９の復元力等が設定されている。従っ
て、着床衝撃緩衝装置１８は、脚体３の着床動作時の衝
撃を適正に軽減することができる。Therefore, in the landing shock absorbing device 18 of the present embodiment, the size of the bag-shaped member 19 and the restoring force of the bag-shaped member 19 are set in consideration of these points. Therefore, the landing shock absorbing device 18 can appropriately reduce the impact of the leg 3 during the landing operation.

【００５０】また、本実施形態の着床衝撃緩衝装置１８
は、次のような効果も奏することができる。すなわち、
袋状部材１９内に対して入出する流体は圧縮性流体の空
気であるため、着床衝撃緩衝装置１８を軽量に構成する
ことができる。さらに、脚体３の着床動作の際に、袋状
部材１９内の圧力が瞬時に増加することがなく、ある程
度の時定数を有して立ち上がるため、床反力の急変を避
けることができる。また、袋状部材１９の圧縮時に該袋
状部材１９から流出する空気は大気中に放出されると共
に、該袋状部材１９の膨張時には大気中から新たな空気
が該袋状部材１９内に流入するため、袋状部材１９から
の空気の流出抵抗に伴う発熱が袋状部材１９内に蓄積す
ることがない。つまり、着床衝撃緩衝装置１８の放熱性
が良く放熱器等の発熱対策機器を備える必要がない。Further, the landing shock absorbing device 18 of this embodiment
Can also exert the following effects. That is,
Since the fluid that enters and leaves the bag-shaped member 19 is the compressible fluid, the landing shock absorbing device 18 can be made lightweight. Furthermore, when the leg 3 is landing, the pressure in the bag-shaped member 19 does not increase instantaneously and rises with a certain time constant, so that a sudden change in the floor reaction force can be avoided. . Further, the air flowing out from the bag-shaped member 19 when the bag-shaped member 19 is compressed is released into the atmosphere, and new air flows into the bag-shaped member 19 from the atmosphere when the bag-shaped member 19 is expanded. Therefore, the heat generated by the outflow resistance of the air from the bag-shaped member 19 does not accumulate in the bag-shaped member 19. In other words, the landing shock absorbing device 18 has a good heat dissipation property, and it is not necessary to provide a heat generating device such as a radiator.

【００５１】また、脚体３の着床動作の際にばねとして
機能する袋状部材１９内の空気のばね定数は、袋状部材
１９の接地直後の圧縮に伴い小さくなるため、前述の複
合コンプライアンス動作の制御の効果を高めることがで
きる。すなわち、ロボット１の複合コンプライアンスの
動作の制御では、前述したように、実全床反力の水平方
向の軸回りのモーメント成分（以下、ここでは、実全床
反力モーメントという）を、そのモーメント成分の目標
値としての補償全床反力モーメント（補償全床反力モー
メントが「０」である場合も含む）に追従させるように
各足平機構６の位置及び姿勢が修正される。そして、こ
のような複合コンプライアンス動作制御は、床Ａに傾き
があるような場合であっても、足平機構６の着床位置及
び姿勢を床Ａ面になじませ、ロボット１の姿勢の安定性
を確保するためのものである。この場合、前記実全床反
力モーメントの補償全床反力モーメントへの追従性を高
めるためには、複合コンプライアンス動作制御における
コンプライアンスゲイン、すなわち、実全床反力モーメ
ントと補償全床反力モーメントとの間の偏差の変化に対
する足平機構６の目標着床位置及び姿勢の変化量（足首
関節９の回転角の変化量）を大きくすることが好まし
い。但し、上記コンプライアンスゲインを大きく採る
と、一般には、複合コンプラインス動作制御のループゲ
イン（これは、概ね、上記コンプライアンスゲインと、
足平機構６が有するばね機構（前記接地部材１７、弾性
部材１６、及び着床衝撃緩衝装置１８）のトータル的な
ばね定数との積に比例する）が大きくなって、制御系が
不安定になりやすい。Further, since the spring constant of the air in the bag-shaped member 19 which functions as a spring when the leg body 3 is in the landing operation becomes smaller with the compression of the bag-shaped member 19 immediately after the ground contact, the above-mentioned composite compliance. The effect of operation control can be enhanced. That is, in the control of the operation of the compound compliance of the robot 1, as described above, the moment component around the horizontal axis of the actual total floor reaction force (hereinafter, referred to as the actual total floor reaction force moment) is calculated as the moment. The position and posture of each foot mechanism 6 are corrected so as to follow the compensating total floor reaction force moment (including the case where the compensating total floor reaction force moment is "0") as the target value of the component. In addition, even when the floor A is inclined, such complex compliance operation control adjusts the landing position and posture of the foot mechanism 6 to the floor A surface to stabilize the posture of the robot 1. To ensure that. In this case, in order to improve the followability of the actual total floor reaction force moment to the compensation total floor reaction force moment, the compliance gain in the combined compliance operation control, that is, the actual total floor reaction force moment and the compensation total floor reaction force moment It is preferable to increase the amount of change in the target landing position and posture of the foot mechanism 6 (the amount of change in the rotation angle of the ankle joint 9) with respect to the change in the deviation between and. However, if the compliance gain is taken large, in general, the loop gain of the composite compliance operation control (this is approximately the above-mentioned compliance gain,
The spring mechanism of the foot mechanism 6 (proportional to the product of the total spring constant of the grounding member 17, the elastic member 16, and the landing shock absorbing device 18) becomes large, and the control system becomes unstable. Prone.

【００５２】しかるに、本実施形態の着床衝撃緩衝装置
１８の前記ばねＫ１として機能する袋状部材１９内の空
気のばね定数は、袋状部材１９の接地直後の圧縮に伴い
小さくなるため、上記ループゲインが小さくなる。その
結果、前記コンプライアンスゲインを高めても、複合コ
ンプライアンス動作制御の安定性を確保することができ
る。従って、実全床反力モーメントの補償全床反力モー
メントへの追従性を高めることができ、ひいては、ロボ
ット１の姿勢の安定性の確保を高めることができる。However, the spring constant of the air in the bag-shaped member 19 functioning as the spring K1 of the landing shock absorbing device 18 of the present embodiment becomes smaller as the bag-shaped member 19 is compressed immediately after it comes into contact with the ground. Loop gain becomes smaller. As a result, the stability of the composite compliance operation control can be ensured even if the compliance gain is increased. Therefore, it is possible to enhance the followability of the actual total floor reaction force moment to the total floor reaction force moment, and thus to ensure the stability of the posture of the robot 1.

【００５３】次に、本発明の第２実施形態を図６を参照
して説明する。図６は本実施形態の着床衝撃緩衝装置を
備えた足平機構の側面示の断面図である。尚、本実施形
態は、前記第１実施形態のものと袋状部材の形状のみが
相違するものであるので、前記第１実施形態と同一の参
照符号を用いる。そして、第１実施形態と同一構成部分
については説明を省略する。Next, a second embodiment of the present invention will be described with reference to FIG. FIG. 6 is a side sectional view of a foot mechanism including the landing shock absorbing device of the present embodiment. Since the present embodiment is different from the first embodiment only in the shape of the bag-shaped member, the same reference numerals as those in the first embodiment are used. The description of the same components as in the first embodiment will be omitted.

【００５４】前記第１実施形態では、袋状部材１９を円
筒形状に形成したものを示したが、円筒形状に形成した
袋状部材１９は、各足平機構６の着床動作の際に該袋状
部材１９が接地した直後に該袋状部材１９の内部の空気
がさほど加圧されない状態で樽型に形状変形しやすい。
そこで、本実施形態の着床衝撃緩衝装置１８では、図６
に示すように、自然状態で樽型になるように形成した袋
状部材１９が足平プレート部材１２の底面に取着されて
いる。これ以外の構成（前記制御装置１０の制御処理を
含む）は前記第１実施形態と全く同一である。In the first embodiment described above, the bag-shaped member 19 is formed into a cylindrical shape. However, the bag-shaped member 19 formed into a cylindrical shape is used when the foot mechanism 6 is landed. Immediately after the bag-shaped member 19 is grounded, the air inside the bag-shaped member 19 is likely to be deformed into a barrel shape in a state where it is not so much pressurized.
Therefore, in the landing shock absorbing device 18 of the present embodiment, as shown in FIG.
As shown in, a bag-shaped member 19 formed in a barrel shape in a natural state is attached to the bottom surface of the foot plate member 12. The other configuration (including the control process of the control device 10) is exactly the same as that of the first embodiment.

【００５５】このような本実施形態の着床衝撃緩衝装置
１８では、袋状部材１９が接地した直後から該袋状部材
１９内の空気が加圧されるため、着床衝撃緩衝装置１８
による着床衝撃の緩衝作動の速応性が高まる。これ以外
の作用効果は、前記第１実施形態と同様である。In the landing shock absorbing device 18 of this embodiment, since the air inside the bag-shaped member 19 is pressurized immediately after the bag-shaped member 19 is grounded, the landing shock absorbing device 18 is pressed.
Improves the quick response of the impact shock due to landing. Other functions and effects are similar to those of the first embodiment.

【００５６】尚、以上説明した第１及び第２実施形態で
は、袋状部材１９に対して入出する空気の流通路を足平
プレート部材１２に穿設した流通孔により構成したが、
ホース管を用いて構成するようにしてもよい。In the first and second embodiments described above, the flow path for the air flowing in and out of the bag-shaped member 19 is constituted by the flow holes formed in the foot plate member 12.
You may make it comprise using a hose pipe.

【００５７】また、前記第１及び第２実施形態では、袋
状部材１９を弾性材により構成して、該袋状部材１９自
身に形状復元力をもたせたが、例えば袋状部材１９を復
元力を有しない素材により構成し、コイルスプリング
等、別のばねにより袋状部材１９を、所定の膨張状態に
付勢するようにしてもよい。In the first and second embodiments, the bag-shaped member 19 is made of an elastic material and the bag-shaped member 19 itself has a shape restoring force. Alternatively, the bag-shaped member 19 may be urged to a predetermined expanded state by another spring such as a coil spring.

【００５８】また、前記第１及び第２実施形態では、袋
状部材１９は、上方に開口させたものを示したが密閉型
のものであってもよい。この場合には、該袋状部材に流
通孔を穿設し、その流通孔を介して該袋状部材内に対す
る空気の入出を行うようにすればよい。あるいは、布、
網、多孔質素材等、多数の細孔を有する素材により、袋
状部材を構成するようにしてもよい。Further, in the first and second embodiments, the bag-shaped member 19 is shown to be opened upward, but it may be a closed type. In this case, a flow hole may be formed in the bag-shaped member, and air may be allowed to flow in and out of the bag-shaped member through the flow hole. Or cloth,
The bag-shaped member may be made of a material having a large number of pores such as a net and a porous material.

【００５９】次に、本発明の第３実施形態を図７
（ａ），（ｂ）を参照して説明する。図７（ａ），
（ｂ）は、本実施形態の着床衝撃緩衝装置の流入・流出
手段の構成を示す断面図である。尚、本実施形態は、前
記第２実施形態のものと流入・流出手段の構成のみが相
違するものであるので、前記第１実施形態と同一構成部
分もしくは同一機能部分については、該第２実施形態と
同一の参照符号を用いて説明を省略する。Next, a third embodiment of the present invention will be described with reference to FIG.
This will be described with reference to (a) and (b). 7 (a),
(B) is sectional drawing which shows the structure of the inflow / outflow means of the landing impact shock absorber of this embodiment. The present embodiment is different from the second embodiment only in the structure of the inflow / outflow means. The same reference numerals as those of the embodiment are used and the description thereof is omitted.

【００６０】図７に示すように、本実施形態における着
床衝撃緩衝装置では、流入・流出手段２３は、各足平機
構６の足平プレート部材１２から上方に突設された中空
の弁室体２４と、この弁室体２４の内部に設けられた円
板状の弁体２５とを備えている。弁室体２４の内部は、
該弁室体２４の下端部に穿設された流通穴２４ａを介し
て袋状部材１９内に連通されていると共に、該弁室体２
４の上端部に穿設された流通穴２４ｂを介して大気側に
連通されている。As shown in FIG. 7, in the landing shock absorbing device in this embodiment, the inflow / outflow means 23 is a hollow valve chamber projecting upward from the foot plate member 12 of each foot mechanism 6. A body 24 and a disc-shaped valve body 25 provided inside the valve chamber body 24 are provided. The inside of the valve chamber body 24 is
The valve chamber body 24 is communicated with the inside of the bag-shaped member 19 through a flow hole 24a formed at the lower end of the valve chamber body 24.
4 communicates with the atmosphere side through a circulation hole 24b formed in the upper end portion of No. 4.

【００６１】弁体２５は、その中心部に流通孔２５ａが
穿設され、一端部（図の左端部）には、切欠き部２５ｂ
が設けられている。また、弁体２５は、その他端部（図
の右端部）に設けられた支軸２６を支点として、切欠き
部２５ｂ側の端部が上下する方向に揺動可能とされてい
る。この場合、弁体２５は、その上面部が図７（ａ）に
示すように弁室体２４の上端部に当接する状態と、該弁
体２５の下端部が図７（ｂ）に示すように弁室体２４の
下端部に当接する状態との間で揺動可能とされ、図７
（ａ）の状態では、弁体２５の切欠き部２５ｂを弁室体
２４の上端部により閉蓋して、袋状部材１９側の流通穴
２４ａと大気側の流通穴２４ｂとを弁体２５の流通孔２
５ａのみを介して連通させ、図７（ｂ）の状態では、両
流通穴２４ａ，２４ｂを弁体２５の流通孔２５ａ及び切
欠き部２５ｂの両者を介して連通させるようになってい
る。また、弁体２５は、足平機構６の着床動作に伴う袋
状部材１９の圧縮の際には、該袋上部材１９内の圧力の
上昇により、図７（ａ）の状態に揺動されると共に、足
平機構６の離床に伴う袋状部材１９の膨張の際には、該
袋状部材１９内に発生する負圧と重力とにより、図７
（ｂ）の状態に揺動するようになっている。以上説明し
た以外の構成（前記制御装置１０の制御処理を含む）
は、前記第２実施形態のものと同一である。The valve body 25 has a through hole 25a formed at the center thereof, and a cutout portion 25b at one end (the left end in the figure).
Is provided. Further, the valve body 25 is swingable in a direction in which the end on the side of the cutout portion 25b moves up and down with a support shaft 26 provided at the other end (the right end in the drawing) as a fulcrum. In this case, the valve body 25 has a state in which the upper surface portion thereof contacts the upper end portion of the valve chamber body 24 as shown in FIG. 7A and the lower end portion of the valve body 25 is as shown in FIG. 7B. It is possible to swing between the state in which it contacts the lower end of the valve chamber body 24 in FIG.
In the state of (a), the cutout portion 25b of the valve body 25 is closed by the upper end portion of the valve chamber body 24, and the circulation hole 24a on the side of the bag-shaped member 19 and the circulation hole 24b on the atmosphere side are closed. Circulation hole 2
In the state of FIG. 7 (b), the two communication holes 24a, 24b are communicated with each other through both the flow hole 25a of the valve body 25 and the cutout portion 25b. Further, the valve body 25 swings to the state shown in FIG. 7A due to an increase in pressure inside the bag upper member 19 when the bag-shaped member 19 is compressed due to the landing operation of the foot mechanism 6. At the same time, when the bag-shaped member 19 is inflated as the foot mechanism 6 leaves the bed, the negative pressure and gravity generated in the bag-shaped member 19 cause
It swings in the state of (b). Configurations other than those described above (including control processing of the control device 10)
Is the same as that of the second embodiment.

【００６２】このような構成の流入・流出手段２３を備
えた本実施形態の着床衝撃緩衝装置では、袋状部材１９
の膨張の際に袋状部材１９内に流入する空気は、図７
（ｂ）に矢印で示すように、弁体２５の流通孔２５ａ及
び切欠き部２５ｂの両者を通るので、その流入抵抗が比
較的小さなものとなる。その結果、該袋状部材１９を速
やかに自然状態（膨張状態）に復帰させることができ
る。In the landing shock absorbing device of the present embodiment provided with the inflow / outflow means 23 having such a structure, the bag-shaped member 19
The air that flows into the bag-shaped member 19 during the expansion of FIG.
As indicated by the arrow in (b), since it passes through both the flow hole 25a and the cutout portion 25b of the valve body 25, its inflow resistance becomes relatively small. As a result, the bag-shaped member 19 can be quickly returned to the natural state (expanded state).

【００６３】一方、袋状部材１９の圧縮の際に袋状部材
１９から流出する空気は、図７（ａ）に矢印で示すよう
に、弁体２５の流通孔２５ａのみを通るので、その流出
抵抗が比較的大きなものとなる。その結果、その流出抵
抗による着床衝撃緩衝装置のダンピング効果を高めるこ
とができる。これ以外の作用効果は、前記第２実施形態
と同様である。On the other hand, when the bag-shaped member 19 is compressed, the air flowing out from the bag-shaped member 19 passes through only the flow hole 25a of the valve body 25, as shown by the arrow in FIG. The resistance is relatively large. As a result, it is possible to enhance the damping effect of the landing shock absorbing device due to the outflow resistance. Other functions and effects are similar to those of the second embodiment.

【００６４】次に、本発明の第４実施形態を図８を参照
して説明する。図８は本実施形態の着床衝撃緩衝装置を
備えた足平機構の要部を模式化して示した図である。
尚、本実施形態では、足平機構は、着床衝撃緩衝装置に
係わる構成を除いて前記第２実施形態のものと同一であ
り、図８では、足平機構の要部構成のみを記載してい
る。また、本実施形態の説明では、前記第２実施形態と
同一構成部分もしくは同一機能部分については、第２実
施形態と同一の参照符号を用い、説明を省略する。Next, a fourth embodiment of the present invention will be described with reference to FIG. FIG. 8 is a diagram schematically showing a main part of a foot mechanism including the landing shock absorbing device of the present embodiment.
In this embodiment, the foot mechanism is the same as that of the second embodiment except for the structure related to the floor impact shock absorber, and in FIG. 8, only the main structure of the foot mechanism is shown. ing. Further, in the description of the present embodiment, the same reference numerals as those in the second embodiment will be used for the same constituent parts or the same functional parts as those in the second embodiment, and the description thereof will be omitted.

【００６５】本実施形態は、前記第３実施形態のものの
着床衝撃緩衝装置の流入・流出手段２３と同等の機能を
有する流入・流出手段を逆止弁等を用いて構成したもの
である。すなわち、図８を参照して、本実施形態では、
着床衝撃緩衝装置１８の流入・流出手段２６は、袋状部
材１９内に連通して袋状部材１９側から導出された一対
の流体管路２７，２８と、これらの流体管路２７，２８
は、その先端部（袋状部材１９と反対側の端部）を合流
させた合流管路２９を介して大気側に開放されている。
そして、流体管路２７には絞り部３０が設けられ、流体
管路２８には逆止弁３１が設けられている。この場合、
逆止弁３１は、袋状部材１９内から流体管路２８を通っ
て空気が流出するのを遮断するように設けられている。
かかる流入・流出手段２６以外の構成（前記制御装置１
０の制御処理を含む）は、前記第２実施形態のものと同
一である。In this embodiment, the inflow / outflow means having the same function as the inflow / outflow means 23 of the landing shock absorbing device of the third embodiment is constructed by using a check valve or the like. That is, referring to FIG. 8, in the present embodiment,
The inflow / outflow means 26 of the landing shock absorbing device 18 communicates with the inside of the bag-shaped member 19 and is led out from the bag-shaped member 19 side, and a pair of the fluid pipes 27, 28.
Is open to the atmosphere side via a merging conduit 29 that joins the ends (the end opposite to the bag-shaped member 19).
The fluid conduit 27 is provided with a throttle portion 30, and the fluid conduit 28 is provided with a check valve 31. in this case,
The check valve 31 is provided so as to block the outflow of air from the inside of the bag-shaped member 19 through the fluid conduit 28.
Configuration other than the inflow / outflow means 26 (the control device 1
(Including a control process of 0) is the same as that of the second embodiment.

【００６６】このような流入・流出手段２６を備えた着
床衝撃緩衝装置１８では、袋状部材１９の圧縮時には、
該袋状部材１９内から絞り部３０を有する流体管路２７
及び合流管路２９を介して大気中に空気が流出し、逆止
弁３１によって流体管路２８には空気が流れない。従っ
て、その流出抵抗が比較的大きいものとなる。また、袋
状部材１９の膨張時には、大気中の空気が合流管路２９
から、両流体管路２７，２８を介して袋状部材１９内に
流入する。従って、その流入抵抗が比較的小さいものと
なる。この結果、前記第３実施形態と同様の作用効果を
奏する。In the landing shock absorbing device 18 provided with such inflow / outflow means 26, when the bag-shaped member 19 is compressed,
A fluid conduit 27 having a narrowed portion 30 from inside the bag-shaped member 19.
Also, the air flows out into the atmosphere through the confluent conduit 29, and the check valve 31 prevents the air from flowing into the fluid conduit 28. Therefore, the outflow resistance becomes relatively large. Further, when the bag-shaped member 19 is inflated, the air in the atmosphere joins the conduit 29.
Flows into the bag-shaped member 19 through the two fluid pipes 27 and 28. Therefore, the inflow resistance becomes relatively small. As a result, the same operational effect as the third embodiment is obtained.

【００６７】尚、本実施形態では、絞り部３０と逆止弁
３１とを別体構成としたが、本実施形態の流入・流出手
段２６を、通常的な構造の一方向絞り弁を用いて構成す
るようにしてもよい。In the present embodiment, the throttle portion 30 and the check valve 31 are constructed separately, but the inflow / outflow means 26 of the present embodiment uses a one-way throttle valve having a normal structure. It may be configured.

【００６８】次に本発明の第５実施形態を図９を参照し
て説明する。図９は本実施形態の着床衝撃緩衝装置を備
えた足平機構の要部を模式化して示した図である。尚、
本実施形態では、足平機構は、着床衝撃緩衝装置に係わ
る構成を除いて前記第２実施形態のものと同一であり、
図９では、足平機構の要部構成のみを記載している。ま
た、本実施形態の説明では、前記第２実施形態と同一構
成部分もしくは同一機能部分については、第２実施形態
と同一の参照符号を用い、説明を省略する。Next, a fifth embodiment of the present invention will be described with reference to FIG. FIG. 9 is a diagram schematically showing a main part of a foot mechanism including the landing shock absorbing device of the present embodiment. still,
In the present embodiment, the foot mechanism is the same as that of the second embodiment except for the configuration related to the floor impact shock absorber,
In FIG. 9, only the main configuration of the foot mechanism is shown. Further, in the description of the present embodiment, the same reference numerals as those in the second embodiment will be used for the same constituent parts or the same functional parts as those in the second embodiment, and the description thereof will be omitted.

【００６９】前述の第１〜第４実施形態では、袋状部材
１９に対する空気の流入・流出をそれぞれ行うための流
通路の全部もしくは一部を共用したものを示したが、本
実施形態は、袋状部材１９への空気の流入と、袋状部材
１９からの空気の流出を各別の流通路で行うようにした
ものである。すなわち、本実施形態における着床衝撃緩
衝装置１８の流入・流出手段３２は、袋状部材１９内に
連通して袋状部材１９側から導出された一対の流体管路
３３，３４を備え、これらの流体管路３３，３４の先端
部（袋状部材１９側と反対側の端部）は大気側に開放さ
れている。そして、流体管路３３には、袋状部材１９内
への空気の流入を阻止する逆止弁３５と絞り部３６とが
設けられ、流体管路３４には、袋状部材１９からの空気
の流出を阻止する逆止弁３７と絞り部３８とが設けられ
ている。この場合、流体管路３３の絞り部３６の開口面
積は、流体管路３４の絞り部３８の開口面積よりも小さ
いものとされている。尚、流体管路３４の絞り部３８の
開口面積は、該流体管路３４の他の部分の開口面積と同
一でもよい。以上説明した以外の構成（前記制御装置１
０の制御処理を含む）は、前記第２実施形態のものと同
一である。In the above-mentioned first to fourth embodiments, all or part of the flow passages for respectively inflowing and outflowing air to and from the bag-shaped member 19 are shared, but this embodiment is The inflow of air into the bag-shaped member 19 and the outflow of air from the bag-shaped member 19 are performed in separate flow passages. That is, the inflow / outflow means 32 of the landing shock absorbing device 18 in the present embodiment is provided with a pair of fluid conduits 33, 34 that communicate with the inside of the bag-shaped member 19 and are led out from the bag-shaped member 19 side. The tip ends of the fluid conduits 33, 34 (ends on the side opposite to the bag-shaped member 19 side) are open to the atmosphere side. Further, the fluid conduit 33 is provided with a check valve 35 and a throttle portion 36 that prevent the inflow of air into the bag-shaped member 19, and the fluid conduit 34 is provided with air from the bag-shaped member 19. A check valve 37 and a throttle portion 38 that prevent outflow are provided. In this case, the opening area of the throttle portion 36 of the fluid conduit 33 is smaller than the opening area of the throttle portion 38 of the fluid conduit 34. The opening area of the narrowed portion 38 of the fluid conduit 34 may be the same as the opening area of other portions of the fluid conduit 34. Configurations other than those described above (the control device 1
(Including a control process of 0) is the same as that of the second embodiment.

【００７０】このような流入・流出手段３２を備えた着
床衝撃緩衝装置１８では、袋状部材１９の圧縮時には、
流体管路３３のみを介して袋状部材１９内の空気が大気
側に流出し、このときの流出抵抗が絞り部３６によって
規定される。また、袋状部材１９の膨張時には、流体管
路３４のみを介して袋状部材１９内に大気側の空気が流
入し、このときの流入抵抗が絞り部３８によって規定さ
れる。従って、袋状部材１９に対する空気の流入・流出
抵抗を各別に所望の特性に設定できる。また、本実施形
態では、絞り部３６の開口面積は、絞り部３８の開口面
積よりも小さいので袋状部材１９に対する空気の流出抵
抗は流入抵抗よりも大きい。従って、前記第３あるいは
第４実施形態と同様の作用効果を奏する。これ以外の作
用効果は、前記第２実施形態のものと同様である。In the landing shock absorbing device 18 provided with such inflow / outflow means 32, when the bag-shaped member 19 is compressed,
The air in the bag-shaped member 19 flows out to the atmosphere side only through the fluid conduit 33, and the outflow resistance at this time is defined by the throttle portion 36. Further, when the bag-shaped member 19 is inflated, air on the atmosphere side flows into the bag-shaped member 19 via only the fluid conduit 34, and the inflow resistance at this time is defined by the throttle portion 38. Therefore, the inflow / outflow resistance of air to / from the bag-shaped member 19 can be individually set to desired characteristics. Further, in the present embodiment, the opening area of the throttle portion 36 is smaller than the opening area of the throttle portion 38, so the outflow resistance of air to the bag-shaped member 19 is larger than the inflow resistance. Therefore, the same effects as those of the third or fourth embodiment are obtained. Other functions and effects are similar to those of the second embodiment.

【００７１】尚、流入・流出手段の構成の簡略化や、部
品点数を少なくする点では、袋状部材１９に対する空気
の入出を、流通路の全部もしくは一部を共用して行う前
記第１〜第４実施形態のものが有利である。From the viewpoint of simplifying the structure of the inflow / outflow means and reducing the number of parts, the first to the first and the second air passages are commonly used to allow the air to flow in and out of the bag-like member 19. The fourth embodiment is advantageous.

【００７２】また、本実施形態で、流体管路３３の逆止
弁３５を省略することも可能であり、この場合には、袋
状部材１９の膨張時に、両流体管路３３，３４を介して
袋状部材１９内に空気が流入することとなる。但し、流
体管路３３を介して袋状部材１９内に流入する空気量よ
りも流体管路３４を介して袋状部材１９内に流入する空
気量の方が多くなる。Further, in the present embodiment, the check valve 35 of the fluid conduit 33 can be omitted, and in this case, when the bag-shaped member 19 is inflated, both the fluid conduits 33 and 34 are interposed. Air will flow into the bag-shaped member 19. However, the amount of air flowing into the bag-shaped member 19 via the fluid conduit 34 is larger than the amount of air flowing into the bag-shaped member 19 via the fluid conduit 33.

【００７３】次に、本発明の第６実施形態を図１０を参
照して説明する。図１０は本実施形態の着床衝撃緩衝装
置を備えた足平機構の要部を模式化して示した図であ
る。尚、本実施形態では、足平機構は、着床衝撃緩衝装
置に係わる構成を除いて前記第２実施形態のものと同一
であり、図１０では、足平機構の要部構成のみを記載し
ている。また、本実施形態の説明では、前記第２実施形
態と同一構成部分もしくは同一機能部分については、第
２実施形態と同一の参照符号を用い、説明を省略する。Next, a sixth embodiment of the present invention will be described with reference to FIG. FIG. 10 is a diagram schematically showing a main part of a foot mechanism including the landing shock absorbing device of the present embodiment. In this embodiment, the foot mechanism is the same as that of the second embodiment except for the structure related to the floor impact shock absorber, and in FIG. 10, only the main part structure of the foot mechanism is shown. ing. Further, in the description of the present embodiment, the same reference numerals as those in the second embodiment will be used for the same constituent parts or the same functional parts as those in the second embodiment, and the description thereof will be omitted.

【００７４】本実施形態の着床衝撃緩衝装置１８では、
流入・流出手段３９として、袋状部材１９内に連通して
袋状部材１９側から導出された一対の流体管路４０，４
１を備え、これらの流体管路４０，４１の先端部（袋状
部材１９側と反対側の端部）は大気側に開放されてい
る。そして、流体管路４０には、前記制御装置１０によ
り電磁的に開口面積を制御可能な可変絞り４２（電磁比
例弁）が設けられ、流体管路４１には、袋状部材１９か
ら空気が流体管路４１を通って流出を阻止する逆止弁４
３が設けられている。この場合、本実施形態では、制御
装置１０は、ロボット１の移動速度が速い程、可変絞り
４２の開口面積を小さくするように該可変絞り４２を制
御する。これ以外の構成（前記制御装置１０の制御処理
を含む）は、前記第２実施形態のものと同一である。In the landing shock absorbing device 18 of this embodiment,
As the inflow / outflow means 39, a pair of fluid conduits 40, 4 communicating with the inside of the bag-shaped member 19 and led out from the bag-shaped member 19 side.
1, and the tip ends of these fluid conduits 40, 41 (ends on the side opposite to the bag-shaped member 19 side) are open to the atmosphere side. The fluid conduit 40 is provided with a variable throttle 42 (electromagnetic proportional valve) capable of electromagnetically controlling the opening area by the control device 10, and the fluid conduit 41 is filled with air from the bag-shaped member 19 Check valve 4 for preventing outflow through the pipeline 41
3 is provided. In this case, in the present embodiment, the control device 10 controls the variable diaphragm 42 such that the faster the moving speed of the robot 1, the smaller the opening area of the variable diaphragm 42. The other configuration (including the control process of the control device 10) is the same as that of the second embodiment.

【００７５】かかる本実施形態の着床衝撃緩衝装置１８
では、袋状部材１９の圧縮時には、可変絞り４２を有す
る流体管路４０を介して袋状部材１９内の空気が大気側
に流出する。また、袋状部材１９の膨張時には、流体管
路４０，４１の両者を介して袋状部材１９内に大気中の
空気が流入する（但し、大部分の空気は、流体管路４１
を介して袋状部材１９内に流入する）。従って、袋状部
材１９に対する空気の流出抵抗及び流入抵抗の大小関係
に関しては、前記第３〜第５実施形態のものと同様であ
る。The landing shock absorbing device 18 of this embodiment
Then, when the bag-shaped member 19 is compressed, the air in the bag-shaped member 19 flows out to the atmosphere side via the fluid conduit 40 having the variable throttle 42. When the bag-shaped member 19 is inflated, air in the atmosphere flows into the bag-shaped member 19 through both of the fluid conduits 40 and 41 (however, most of the air is in the fluid conduit 41).
Through the inside of the bag-shaped member 19). Therefore, the magnitude relationship between the outflow resistance and the inflow resistance of air with respect to the bag-shaped member 19 is the same as that in the third to fifth embodiments.

【００７６】一方、本実施形態では、ロボット１の移動
速度が速いほど、可変絞り４２の開口面積を小さくし
て、袋状部材１９からの空気の流出抵抗を大きくするの
で、ダンピング効果が高まる。このため、ロボット１の
移動速度が速いほど、各脚体３の着床動作時に該脚体３
に作用する床反力を速やかに定常化することできる。こ
れ以外の作用効果については、前記第２実施形態と同様
である。On the other hand, in the present embodiment, the faster the moving speed of the robot 1, the smaller the opening area of the variable diaphragm 42 and the greater the outflow resistance of the air from the bag-shaped member 19, so that the damping effect is enhanced. For this reason, the faster the moving speed of the robot 1 is, the more the legs 3 are moved during the landing motion of the legs 3.
The floor reaction force acting on can be promptly stabilized. Other functions and effects are the same as those in the second embodiment.

【００７７】次に、本発明の第７施形態を図１１参照し
て説明する。図１１は本実施形態の着床衝撃緩衝装置を
備えた足平機構の要部を模式化して示した図である。
尚、本実施形態では、足平機構は、着床衝撃緩衝装置に
係わる構成を除いて前記第２実施形態のものと同一であ
り、図１１では、足平機構の要部構成のみを記載してい
る。また、本実施形態の説明では、前記第２実施形態と
同一構成部分もしくは同一機能部分については、第２実
施形態と同一の参照符号を用い、説明を省略する。Next, a seventh embodiment of the present invention will be described with reference to FIG. FIG. 11 is a diagram schematically showing a main part of a foot mechanism including the landing shock absorbing device of the present embodiment.
In the present embodiment, the foot mechanism is the same as that of the second embodiment except for the structure related to the floor impact shock absorber, and in FIG. 11, only the main structure of the foot mechanism is shown. ing. Further, in the description of the present embodiment, the same reference numerals as those in the second embodiment will be used for the same constituent parts or the same functional parts as those in the second embodiment, and the description thereof will be omitted.

【００７８】本実施形態の着床衝撃緩衝装置１８では、
流入・流出手段４４として、袋状部材１９内に連通して
袋状部材１９側から導出された３個の流体管路４５，４
６，４７を備え、これらの流体管路４５〜４７の先端部
（袋状部材１９側と反対側の端部）は大気側に開放され
ている。そして、流体管路４５には、絞り部４８が設け
られ、流体管路４６には、袋状部材１９から空気が流体
管路４６を通って流出するのを阻止する逆止弁４９が設
けられている。さらに、流体管路４７には、前記制御装
置１０により設定圧を電磁的に制御可能なリリーフ弁５
０が設けられている。この場合、本実施形態では、制御
装置１０は、ロボット１の移動速度が速い程、リリーフ
弁５０の設定圧を大きくするように該リリーフ弁５０を
制御する。これ以外の構成（前記制御装置１０の制御処
理を含む）は、前記第２実施形態のものと同一である。In the landing shock absorbing device 18 of this embodiment,
As the inflow / outflow means 44, three fluid conduits 45, 4 communicating with the inside of the bag-shaped member 19 and led out from the bag-shaped member 19 side
6, 47, and the tip ends of these fluid conduits 45 to 47 (ends on the side opposite to the bag-shaped member 19 side) are open to the atmosphere side. Further, the fluid conduit 45 is provided with a throttle portion 48, and the fluid conduit 46 is provided with a check valve 49 that prevents air from flowing out of the bag-shaped member 19 through the fluid conduit 46. ing. Further, in the fluid line 47, a relief valve 5 whose set pressure can be electromagnetically controlled by the control device 10 is provided.
0 is provided. In this case, in the present embodiment, the control device 10 controls the relief valve 50 so that the set pressure of the relief valve 50 increases as the moving speed of the robot 1 increases. The other configuration (including the control process of the control device 10) is the same as that of the second embodiment.

【００７９】かかる本実施形態の着床衝撃緩衝装置１８
では、袋状部材１９の圧縮時には、絞り部４８を有する
流体管路４５を介して袋状部材１９内の空気が大気側に
流出する。また、袋状部材１９の膨張時には、流体管路
４５，４６の両者を介して袋状部材１９内に大気中の空
気が流入する（但し、大部分の空気は、流体管路４６を
介して袋状部材１９内に流入する）。従って、袋状部材
１９に対する空気の流出抵抗及び流入抵抗の大小関係に
関しては、前記第３〜第６実施形態のものと同様であ
る。The landing shock absorbing device 18 of the present embodiment
Then, when the bag-shaped member 19 is compressed, the air in the bag-shaped member 19 flows out to the atmosphere side via the fluid pipe 45 having the throttle portion 48. Further, when the bag-shaped member 19 is inflated, air in the atmosphere flows into the bag-shaped member 19 through both the fluid conduits 45 and 46 (however, most of the air flows through the fluid conduit 46). It flows into the bag-shaped member 19). Therefore, the magnitude relationship between the outflow resistance and the inflow resistance of air with respect to the bag-shaped member 19 is the same as that of the third to sixth embodiments.

【００８０】一方、本実施形態では、袋状部材１９の圧
縮時に、該袋状部材１９内に圧力がリリーフ弁５０の設
定圧を超えると、該リリーフ弁５０が開成し、袋状部材
１９内の圧力の更なる上昇が阻止される。これにより、
袋状部材１９内の圧力が過剰に高くなるのを防止でき
る。この場合、一般に、ロボット１の移動速度が速いほ
ど、脚体３の運動エネルギーが大きくなるので、該運動
エネルギーを吸収する上で、袋状部材１９内の圧力は、
ロボット１の移動速度が速い程、より高圧の圧力まで上
昇することが好ましい。このため、本実施形態では、ロ
ボット１の移動速度が速い程、リリーフ弁５０の設定圧
を大きくするようにしている。これにより、本実施形態
の着床衝撃緩衝装置１８による着床衝撃の軽減効果を、
ロボット１の移動速度によらずに適正に確保することが
できる。On the other hand, in the present embodiment, when the pressure inside the bag-shaped member 19 exceeds the set pressure of the relief valve 50 when the bag-shaped member 19 is compressed, the relief valve 50 is opened and the inside of the bag-shaped member 19 is opened. Further pressure buildup is prevented. This allows
It is possible to prevent the pressure inside the bag-shaped member 19 from becoming excessively high. In this case, generally, the faster the moving speed of the robot 1 is, the larger the kinetic energy of the leg body 3 is. Therefore, in absorbing the kinetic energy, the pressure in the bag-shaped member 19 is
It is preferable that the higher the moving speed of the robot 1, the higher the pressure rises. Therefore, in the present embodiment, the higher the moving speed of the robot 1, the larger the set pressure of the relief valve 50. Thereby, the effect of reducing the landing impact by the landing impact buffering device 18 of the present embodiment,
It can be properly secured regardless of the moving speed of the robot 1.

【００８１】次に、本発明の第８実施形態を図１２及び
図１３を参照して説明する。図１２は本実施形態の着床
衝撃緩衝装置を備えた足平機構の要部を模式化して示し
た図、図１３は本実施形態の着床衝撃緩衝装置の作動を
説明するための線図である。尚、本実施形態では、足平
機構は、着床衝撃緩衝装置に係わる構成を除いて前記第
２実施形態のものと同一であり、図１２では、足平機構
の要部構成のみを記載している。また、本実施形態の説
明では、前記第２実施形態と同一構成部分もしくは同一
機能部分については、第２実施形態と同一の参照符号を
用い、説明を省略する。Next, an eighth embodiment of the present invention will be described with reference to FIGS. FIG. 12 is a diagram schematically showing a main part of a foot mechanism including a landing shock absorbing device according to the present embodiment, and FIG. 13 is a diagram for explaining the operation of the landing shock absorbing device according to the present embodiment. Is. In this embodiment, the foot mechanism is the same as that of the second embodiment except for the structure related to the landing shock absorbing device, and in FIG. 12, only the main structure of the foot mechanism is shown. ing. Further, in the description of the present embodiment, the same reference numerals as those in the second embodiment will be used for the same constituent parts or the same functional parts as those in the second embodiment, and the description thereof will be omitted.

【００８２】図１２を参照して、本実施形態の着床衝撃
緩衝装置１８では、流入・流出手段５１として、袋状部
材１９内に連通して袋状部材１９側から導出された一対
の流体管路５２，５３を備え、これらの流体管路５２，
５３の先端部（袋状部材１９側と反対側の端部）はアキ
ュムレータ５４及び加圧ポンプ５５からなる空圧源５６
に接続されている。該空圧源５６は、大気圧よりも高い
所定圧の空気の供給源である。そして、流体管路５２に
は、絞り部５７と、袋状部材１９に流体管路５３を通っ
て空気が流入するのを阻止する逆止弁５８とが設けら
れ、流体管路５３には、絞り部５９と、袋状部材１９か
ら流体管路５３を通って空気が流出するのを阻止する逆
止弁６０と、前記制御装置１０により開閉制御可能な電
磁弁６１とが設けられている。この場合、絞り部５７の
開口面積は、絞り部５９の開口面積よりも小さいものと
されている。Referring to FIG. 12, in the landing shock absorbing device 18 of the present embodiment, a pair of fluids, which are in communication with the bag-shaped member 19 and are led out from the bag-shaped member 19 side, serve as the inflow / outflow means 51. The fluid lines 52, 53 are provided with the fluid lines 52, 53.
The tip end portion of 53 (the end portion on the side opposite to the bag-shaped member 19 side) is an air pressure source 56 including an accumulator 54 and a pressure pump 55.
It is connected to the. The air pressure source 56 is a supply source of air having a predetermined pressure higher than the atmospheric pressure. The fluid conduit 52 is provided with a throttle portion 57 and a check valve 58 for preventing air from flowing into the bag-shaped member 19 through the fluid conduit 53, and the fluid conduit 53 is provided with: A throttle portion 59, a check valve 60 for preventing air from flowing out of the bag-shaped member 19 through the fluid conduit 53, and an electromagnetic valve 61 whose opening and closing can be controlled by the control device 10 are provided. In this case, the aperture area of the diaphragm 57 is smaller than the aperture area of the diaphragm 59.

【００８３】また、本実施形態では、袋状部材１９は、
その自然状態に膨張した状態（図１２に示す状態）で
は、その内部の圧力が大気圧より高くなっても、該自然
状態の形状がほぼ維持され、弾性力（形状復元力）がほ
とんど発生しないようになっている。つまり、袋状部材
１９の容積は、自然状態における容積がほぼ上限容積と
なるようになっている。このような袋状部材１９は、例
えば伸び難い弾性材や、基布等、伸びない素材を混入し
た弾性材により構成されている。さらに、本実施形態で
は、前記制御装置１０は、例えば、脚体３の離床状態で
は、電磁弁６１を開弁制御し、脚体３の着床状態では、
電磁弁６１を閉弁制御するようにしている。以上説明し
た以外の構成（制御装置１０の制御処理を含む）は、前
記第２実施形態と同一である。In the present embodiment, the bag-shaped member 19 is
In the state in which the natural state is expanded (the state shown in FIG. 12), even if the internal pressure becomes higher than the atmospheric pressure, the shape of the natural state is almost maintained and the elastic force (shape restoring force) is hardly generated. It is like this. That is, the volume of the bag-shaped member 19 is such that the volume in the natural state is almost the upper limit volume. Such a bag-shaped member 19 is made of, for example, an elastic material that is difficult to stretch or an elastic material that is mixed with a non-stretchable material such as a base cloth. Further, in the present embodiment, the control device 10 controls the opening of the electromagnetic valve 61 when the leg body 3 is in the floor leaving state, and when the leg body 3 is in the landing state, for example.
The solenoid valve 61 is controlled to be closed. The configuration other than that described above (including the control processing of the control device 10) is the same as that of the second embodiment.

【００８４】かかる本実施形態の着床衝撃緩衝装置１８
では、脚体３の離床状態において電磁弁６１が開弁され
ている。このため、脚体３の離床状態において、前記空
圧源５６から大気圧よりも高圧の空気が流体管路５３を
通って、袋状部材１９内に流入し、該袋状部材１９が自
然状態（図１２に示す状態）に膨張する。この場合、流
体管路５３の絞り部５９の開口面積は比較的広いので、
袋状部材１９内への空気の流入抵抗は比較的小さく、該
袋状部材１９は自然状態（膨張状態）まで速やかに膨張
する。また、この場合、該袋状部材１９は、本実施形態
では自然状態において形状復元力が生じないため、該袋
状部材１９の膨張状態では、袋状部材１９内の圧力と、
大気圧との差によって、該袋状部材１９内の空気が予圧
を有することとなる。The landing shock absorbing device 18 of the present embodiment
Then, the electromagnetic valve 61 is opened when the leg body 3 is in the bed leaving state. Therefore, when the leg body 3 is out of bed, air having a pressure higher than atmospheric pressure from the air pressure source 56 flows into the bag-shaped member 19 through the fluid conduit 53, and the bag-shaped member 19 is in a natural state. (The state shown in FIG. 12) is expanded. In this case, since the opening area of the narrowed portion 59 of the fluid conduit 53 is relatively large,
The resistance against the inflow of air into the bag-shaped member 19 is relatively small, and the bag-shaped member 19 quickly expands to a natural state (expanded state). Further, in this case, since the bag-shaped member 19 does not generate a shape restoring force in the natural state in the present embodiment, in the expanded state of the bag-shaped member 19, the pressure inside the bag-shaped member 19 and
Due to the difference from the atmospheric pressure, the air in the bag-shaped member 19 has a preload.

【００８５】また、脚体３の着床動作の際には、その着
床動作に伴う袋状部材１９の接地後、該袋状部材１９が
その内部の空気と共に、圧縮・加圧され、該袋状部材１
９から流体管路５２を通って空気が流出する。そして、
このとき、流体管路５２の絞り部５７によって、空気の
流出抵抗が発生する。これにより、基本的には、前記第
１〜７実施形態と同様に、着床衝撃を軽減することがで
きる。そして、この場合、流体管路５２の絞り部５７の
開口面積は比較的小さいものとなっていると共に、袋状
部材１９から流出する空気の圧力が高圧であるため、袋
状部材１９の圧縮時の空気の流出抵抗が高まり、本実施
形態の着床衝撃緩衝装置１８のダンピング効果を高める
ことができる。In addition, during the landing operation of the leg 3, after the bag-shaped member 19 is grounded due to the landing operation, the bag-shaped member 19 is compressed / pressurized together with the air therein, Bag-shaped member 1
Air flows out of the pipe 9 through the fluid line 52. And
At this time, the outflow resistance of air is generated by the throttle portion 57 of the fluid conduit 52. As a result, basically, the landing impact can be reduced as in the first to seventh embodiments. In this case, since the opening area of the narrowed portion 57 of the fluid conduit 52 is relatively small and the pressure of the air flowing out from the bag-shaped member 19 is high, the bag-shaped member 19 is compressed. The outflow resistance of the air is increased, and the damping effect of the landing shock absorbing device 18 of the present embodiment can be enhanced.

【００８６】さらに、本実施形態では、特に、袋状部材
１９の膨張状態において、その内部の空気に予圧が与え
られているため、袋状部材１９がその圧縮に伴い発生す
る反力は、図１３に示すように、袋状部材１９の圧縮開
始直後に急激に増加し、その後、袋状部材１９の圧縮量
（袋状部材１９の高さ方向の圧縮量）の増加に伴い線形
的に該反力が増加していくものとなる。このため、脚体
３の着床動作に伴う袋状部材１９の接地直後に該脚体３
の足平機構６の運動量を迅速に減少させることができ
（袋状部材１９の接地直後に足平機構６の運動量を減少
させる方向の力積を大きくできる）、ひいては、脚体３
の着床動作の際に該脚体３に作用する衝撃荷重（床反
力）のピーク値を小さくすることができる。つまり、着
床衝撃の軽減効果を高めることができる。Furthermore, in the present embodiment, particularly when the bag-shaped member 19 is in an expanded state, a preload is applied to the air inside thereof, so that the reaction force generated by the compression of the bag-shaped member 19 is 13, the bag-shaped member 19 rapidly increases immediately after the start of compression, and then linearly increases as the compression amount of the bag-shaped member 19 (the compression amount in the height direction of the bag-shaped member 19) increases. The reaction force will increase. Therefore, immediately after the bag-shaped member 19 is grounded due to the landing motion of the leg body 3, the leg body 3 is
The momentum of the foot mechanism 6 can be rapidly reduced (impulse in the direction of reducing the momentum of the foot mechanism 6 can be increased immediately after the bag-shaped member 19 touches the ground), and by extension, the leg 3
It is possible to reduce the peak value of the impact load (floor reaction force) that acts on the leg body 3 during the landing operation. That is, the effect of reducing the impact of landing can be enhanced.

【００８７】さらに、本実施形態では、脚体３の着床状
態では、電磁弁６１が閉弁されているため、袋状部材１
９には、空気が流入できず、該袋状部材１９が圧縮状態
に維持される。従って、袋状部材１９の箇所に床反力を
作用させることなく、足平機構６の着床状態での姿勢制
御によって、該足平機構６の所望の部位に集中的に床反
力を作用させるようにすることができる。例えば、ロボ
ット１が前のめりに転倒しそうになった時に、足平機構
６の前端側に床反力を集中させるようにすることができ
る。この結果、ロボット１の姿勢の安定化を容易に図る
ことができる。尚、これに関して、補足説明をすると、
仮に脚体３の着床状態で電磁弁６１を開弁したままにし
ておくと、袋状部材１９には、常に高圧の空気が空圧源
５６から流入しようとする（袋状部材１９が常に膨らも
うとする）ため、該袋状部材１９の箇所には常に床反力
が作用することとなる。このため、足平機構６の所望の
部位に床反力を集中させることができず、足平機構６の
着床状態における姿勢制御によるロボット１の姿勢の安
定化に限界が生じやすくなる。これに対して、本実施形
態の着床衝撃緩衝装置１８では、上述のようにロボット
１の姿勢の安定化の限界を高めることができる。Further, in this embodiment, since the solenoid valve 61 is closed when the leg 3 is in the landing state, the bag-shaped member 1
Air cannot flow into 9 and the bag-like member 19 is maintained in a compressed state. Therefore, the floor reaction force is intensively applied to a desired portion of the foot mechanism 6 by the posture control of the foot mechanism 6 in the landing state without applying the floor reaction force to the bag-shaped member 19. Can be allowed to. For example, the floor reaction force can be concentrated on the front end side of the foot mechanism 6 when the robot 1 is about to fall forward. As a result, the posture of the robot 1 can be easily stabilized. In addition, regarding this, if you give a supplementary explanation,
If the solenoid valve 61 is left open when the legs 3 are in the landing state, high-pressure air always tries to flow into the bag-shaped member 19 from the pneumatic source 56 (the bag-shaped member 19 is always Therefore, the floor reaction force always acts on the bag-shaped member 19 in order to swell. For this reason, the floor reaction force cannot be concentrated on a desired part of the foot mechanism 6, and the stabilization of the posture of the robot 1 by the posture control in the landing state of the foot mechanism 6 tends to be limited. On the other hand, in the landing shock absorbing device 18 of the present embodiment, the limit of stabilization of the posture of the robot 1 can be increased as described above.

【００８８】尚、上記第８実施形態では、袋状部材１９
を弾性材により構成したが、弾性を有しない可撓性の素
材により構成してもよい。このようにしても、前記第８
実施形態では、袋状部材１９内に高圧の空気を流入させ
るので、該袋状部材１９を膨張させることができる。ま
た、前記電磁弁６１の開閉制御に関しては、脚体３が着
床状態から離床状態に移行した直後の期間では、電磁弁
６１を閉弁保持するようにして、袋状部材１９を圧縮状
態に維持するようにしてもよい。このようにすると、脚
体３の離床動作を円滑に行うことができる。In the eighth embodiment, the bag-shaped member 19
Although is made of an elastic material, it may be made of a flexible material having no elasticity. Even in this way, the eighth
In the embodiment, since high-pressure air is flown into the bag-shaped member 19, the bag-shaped member 19 can be expanded. Regarding the opening / closing control of the solenoid valve 61, the solenoid valve 61 is kept closed and the bag-shaped member 19 is kept in the compressed state in a period immediately after the leg body 3 is changed from the landing state to the floor leaving state. You may keep it. By doing so, it is possible to smoothly move the leg 3 out of the floor.

【００８９】また、前記第８実施形態では、袋状部材１
９は、伸びにくい素材等を使用することにより、自然状
態よりも膨張しないようにして該袋状部材１９内の空気
に予圧をもたせるようにしたが、該袋状部材１９がその
内部の圧力を大気圧よりも高圧にしても、機構的に自然
状態よりも膨張しないようにして、該袋状部材１９の内
部の空気に予圧をもたせるようにすることも可能であ
る。このような予圧付与機構の例を、第９実施形態及び
第１０実施形態として、それぞれ図１４、図１５に示
す。尚、図１４及び図１５では、前記第８実施形態と同
一構成部分は、同一の参照符号を付している。Further, in the eighth embodiment, the bag-shaped member 1
9 is made of a material that does not easily stretch so that the air inside the bag-shaped member 19 has a preload so that it does not expand more than in the natural state, but the bag-shaped member 19 prevents the internal pressure from increasing. Even if the pressure is higher than the atmospheric pressure, it is possible to mechanically prevent the air inside the bag-like member 19 from expanding than the natural state so that the air inside the bag-shaped member 19 has a preload. Examples of such a preload applying mechanism are shown in FIGS. 14 and 15 as a ninth embodiment and a tenth embodiment, respectively. 14 and 15, the same components as those in the eighth embodiment are designated by the same reference numerals.

【００９０】図１４に示す第９実施形態では、袋状部材
１９内の底面部にプレート部材６１が固設され、このプ
レート部材６１が袋状部材１９の内部で足平プレート部
材１２に可撓性のワイヤ６２を介して連結されている。
その他の構成は、前記第８実施形態と同一である。この
第９実施形態では、ワイヤ６２が伸びた状態が、袋状部
材１９の膨張状態であり、この状態以上には、袋状部材
１９が膨張しない。従って、袋状部材１９の膨張状態
で、その内部の空気に前記第８実施形態と同様に予圧を
もたせることができる。尚、袋状部材１９の圧縮は、ワ
イヤ６２が撓むことにより支障なく行われる。In the ninth embodiment shown in FIG. 14, a plate member 61 is fixedly mounted on the bottom surface of the bag-shaped member 19, and the plate member 61 is flexible to the foot plate member 12 inside the bag-shaped member 19. Connected via a sex wire 62.
Other configurations are the same as those in the eighth embodiment. In the ninth embodiment, the expanded state of the wire 62 is the expanded state of the bag-shaped member 19, and the bag-shaped member 19 does not expand beyond this state. Therefore, when the bag-shaped member 19 is in an expanded state, the air therein can be preloaded as in the eighth embodiment. In addition, the compression of the bag-shaped member 19 is performed without any trouble because the wire 62 bends.

【００９１】図１５に示す第１０実施形態では、袋状部
材１９内の底面部にプレート部材６３が固設され、この
プレート部材６３から上方に向かって延設されたロッド
部材６４が足平プレート部材１２を上下方向（袋状部材
１９の圧縮方向）に摺動自在に貫通して、該足平プレー
ト部材１２の上側に突出している。そして、該ロッド部
材６４の上端部には、ストッパプレート６５が固設さ
れ、このストッパプレート６５が足平プレート部材１２
の上面部に当接することで、ロッド部材６４の下方への
移動が規制されるようになっている。その他の構成は、
前記第８実施形態と同一である。この第１０実施形態で
は、ストッパプレート６５が足平プレート部材１２の上
面部に当接した状態が、袋状部材１９の膨張状態であ
り、この状態以上には、袋状部材１９が膨張しない。従
って、袋状部材１９の膨張状態で、その内部の空気に前
記第８実施形態と同様に予圧をもたせることができる。
尚、袋状部材１９の圧縮は、ストッパプレート６５が足
平プレート部材１２上からその上方に離反しつつロッド
部材６４が上動することにより、支障なく行われる。In the tenth embodiment shown in FIG. 15, a plate member 63 is fixedly mounted on the bottom surface of the bag-shaped member 19, and a rod member 64 extending upward from the plate member 63 is a foot plate. The member 12 is slidably pierced in the vertical direction (the direction in which the bag-shaped member 19 is compressed) and protrudes above the foot plate member 12. A stopper plate 65 is fixed to the upper end portion of the rod member 64, and the stopper plate 65 is used for the foot plate member 12
By contacting the upper surface of the rod member 64, the downward movement of the rod member 64 is restricted. Other configurations are
This is the same as the eighth embodiment. In the tenth embodiment, the state where the stopper plate 65 is in contact with the upper surface of the foot plate member 12 is the expanded state of the bag-shaped member 19, and the bag-shaped member 19 does not expand beyond this state. Therefore, when the bag-shaped member 19 is in an expanded state, the air therein can be preloaded as in the eighth embodiment.
The bag-shaped member 19 is compressed without any hindrance by moving the rod member 64 upward while the stopper plate 65 moves away from above the foot plate member 12 and above.

【００９２】次に、本発明の第１１実施形態を図１６及
び図１７を参照して説明する。図１６は本実施形態の着
床衝撃緩衝装置を備えた足平機構の要部を模式化して示
した図、図１７は、本実施形態に係わる制御処理を示す
フローチャートである。尚、本実施形態では、足平機構
は、着床衝撃緩衝装置に係わる構成を除いて前記第２実
施形態のものと同一であり、図１６では、足平機構の要
部構成のみを記載している。また、本実施形態の説明で
は、前記第２実施形態と同一構成部分もしくは同一機能
部分については、第２実施形態と同一の参照符号を用
い、説明を省略する。Next, an eleventh embodiment of the present invention will be described with reference to FIGS. FIG. 16 is a diagram schematically showing a main part of a foot mechanism including a landing shock absorbing device according to the present embodiment, and FIG. 17 is a flowchart showing a control process according to the present embodiment. In this embodiment, the foot mechanism is the same as that of the second embodiment except for the structure related to the landing shock absorbing device, and in FIG. 16, only the main structure of the foot mechanism is shown. ing. Further, in the description of the present embodiment, the same reference numerals as those in the second embodiment will be used for the same constituent parts or the same functional parts as those in the second embodiment, and the description thereof will be omitted.

【００９３】図１６に示すように、本実施形態の着床衝
撃緩衝装置１８では、流入・流出手段６６として、袋状
部材１９内に連通して袋状部材１９側から導出された一
対の流体管路６７，６８を備え、流体管路６７の先端部
（袋状部材１９側と反対側の端部）は、空気が充填され
たエア室６９に接続されている。また、流体管路６８の
先端部（袋状部材１９側と反対側の端部）は大気側に開
放されている。そして、これらの流体管路６７，６８に
は、それぞれ前記制御装置１０により開閉状態を制御可
能な電磁比例弁７０，７１が設けられている。さらに、
袋状部材１９の内部には、その内部の圧力を検出する圧
力センサ７２が設けられ、その出力は前記制御装置１０
に入力されるようになっている。尚、エア室６９内の空
気の圧力は大気圧よりも高圧とされている。また、袋状
部材１９は、前記第８実施形態と同様に、その内部の圧
力が大気圧より高くなっても、自然状態以上にはほとん
ど膨張しないように、伸びにくい弾性材により構成され
ている。また、以下の説明では、電磁比例弁７０をエア
室側電磁比例弁７０、電磁比例弁７１を大気側電磁比例
弁７１と称する。As shown in FIG. 16, in the landing shock absorbing device 18 of the present embodiment, a pair of fluids, which are in communication with the bag-shaped member 19 and led out from the bag-shaped member 19 side, serve as the inflow / outflow means 66. The fluid channels 67 and 68 are provided, and the tip of the fluid channel 67 (the end opposite to the bag-shaped member 19 side) is connected to an air chamber 69 filled with air. Further, the tip of the fluid conduit 68 (the end opposite to the bag-shaped member 19 side) is open to the atmosphere side. The fluid conduits 67 and 68 are provided with electromagnetic proportional valves 70 and 71, respectively, the open / close states of which can be controlled by the controller 10. further,
Inside the bag-shaped member 19, a pressure sensor 72 for detecting the pressure inside the bag-shaped member 19 is provided, the output of which is the control device 10.
It is designed to be input to. The pressure of the air in the air chamber 69 is higher than the atmospheric pressure. Further, the bag-shaped member 19 is made of an elastic material that is difficult to stretch so that it does not substantially expand beyond the natural state even when the internal pressure becomes higher than the atmospheric pressure, as in the case of the eighth embodiment. . Further, in the following description, the electromagnetic proportional valve 70 is referred to as the air chamber side electromagnetic proportional valve 70, and the electromagnetic proportional valve 71 is referred to as the atmosphere side electromagnetic proportional valve 71.

【００９４】この場合、本実施形態では、制御装置１０
は、前述したロボット１の動作制御と並行して、図１７
のフローチャートに示す処理を、各脚体３毎に、前記図
４のフローチャートのＳＴＥＰ５の処理と並行して制御
サイクル毎に実行し、前記電磁比例弁７０，７１の開閉
状態を制御するようにしている。In this case, in this embodiment, the control device 10
17 in parallel with the operation control of the robot 1 described above.
The processing shown in the flowchart of FIG. 4 is executed for each leg 3 in parallel with the processing of STEP 5 of the flowchart of FIG. There is.

【００９５】すなわち、制御装置１０は、現在設定され
ている歩容パラメータ（ロボット１の移動モードや、歩
幅、移動速度等）に応じて、脚体３の離床状態で袋状部
材１９内に大気中の空気を流入させる期間と規定する大
気吸入時間Ｔinと、脚体３の離床状態で袋状部材１９内
にエア室６９内の空気を流入させて袋状部材１９内の圧
力を昇圧する期間を規定する昇圧時間Ｔupと、脚体３の
着床動作の際の袋状部材１９の接地後に袋状部材１９内
の空気を大気側に流出させるタイミングを規定する切換
え圧Ｐｃとを設定する（ＳＴＥＰ１１）。尚、大気吸入
時間Ｔinは基本的には、ロボット１の移動速度が速いほ
ど、短い時間に設定され、昇圧時間Ｔupは基本的には、
ロボット１の移動速度が速いほど、長い時間に設定さ
れ、切換え圧Ｐｃは、基本的にはロボット１の移動速度
が速いほど、高い圧力に設定される。That is, the control device 10 controls the atmosphere in the bag-shaped member 19 with the legs 3 leaving the floor according to the currently set gait parameters (movement mode, stride length, movement speed, etc. of the robot 1). Atmosphere suction time Tin, which is defined as a period during which the inside air is allowed to flow, and a period during which the air in the air chamber 69 is caused to flow into the bag-shaped member 19 to raise the pressure inside the bag-shaped member 19 when the legs 3 are out of bed. And the switching pressure Pc that defines the timing at which the air in the bag-shaped member 19 flows out to the atmosphere side after the bag-shaped member 19 is grounded during the landing operation of the legs 3 ( STEP 11). The atmospheric suction time Tin is basically set to a shorter time as the moving speed of the robot 1 is higher, and the boosting time Tup is basically set to
The higher the moving speed of the robot 1, the longer the time is set, and the switching pressure Pc is basically set to the higher the higher the moving speed of the robot 1.

【００９６】さらに、制御装置１０は、現在設定されて
いる歩容パラメータに基づいて、脚体３が支持脚期とな
る時間Ｔsup（足平機構６が接地部材１７もしくは袋状
部材１９を介して接地した状態に維持される時間。以
下、支持脚時間Ｔsupという）を求める（ＳＴＥＰ１
２）。Further, the control device 10 controls the time Tsup during which the leg 3 is in the supporting leg period based on the currently set gait parameter (the foot mechanism 6 causes the ground member 17 or the bag-shaped member 19 to intervene). Time to be kept in the grounded state (hereinafter referred to as supporting leg time Tsup) is calculated (STEP 1
2).

【００９７】次いで、制御装置１０は、現在時刻ｔが、
０≦ｔ＜Ｔsupであるか否か、すなわち、現在時刻ｔが
支持脚期内のタイミングであるか否かを判断する（ＳＴ
ＥＰ１３）。このとき、現在時刻ｔが支持脚期内にある
ときには、制御装置１０はさらに、前記圧力センサ７２
により検出圧力が前記切換え圧Ｐｃまで上昇したか否か
を判断し（ＳＴＥＰ１４）、該検出圧力が切換え圧Ｐｃ
まで上昇していないときには、前記大気側電磁比例弁７
１を全閉状態に保持すると共に、エア室側電磁比例弁７
０を半開状態に保持する（ＳＴＥＰ１５）。また、ＳＴ
ＥＰ１４で、検出圧力が切換え圧Ｐｃまで上昇した場合
には、大気側電磁比例弁７１を半開状態に保持すると共
に、エア室側電磁比例弁７０を全閉状態に保持する（Ｓ
ＴＥＰ１６）。尚、この場合、ＳＴＥＰ１６の処理を実
行した後には、制御装置１０は、現在時刻ｔが支持脚期
内にある限り、検出圧力が切換え圧Ｐｃよりも低い圧力
に低下しても、大気側電磁比例弁７１を半開状態に保持
すると共に、エア室側電磁比例弁７０を全閉状態に保持
する。Next, the controller 10 determines that the current time t is
It is determined whether or not 0 ≦ t <Tsup, that is, whether or not the current time t is within the supporting leg period (ST).
EP13). At this time, when the current time t is within the supporting leg period, the control device 10 further causes the pressure sensor 72 to operate.
It is determined whether the detected pressure has risen to the switching pressure Pc (STEP 14).
When it has not risen to the above, the atmosphere side solenoid proportional valve 7
1 is kept in a fully closed state, and the air chamber side solenoid proportional valve 7
0 is held in a half open state (STEP 15). Also, ST
In EP14, when the detected pressure rises to the switching pressure Pc, the atmosphere side solenoid proportional valve 71 is held in a half open state and the air chamber side solenoid proportional valve 70 is held in a fully closed state (S).
TEP16). In this case, after executing the process of STEP 16, the control device 10 controls the atmosphere-side electromagnetic force even if the detected pressure falls below the switching pressure Pc as long as the current time t is within the supporting period. The proportional valve 71 is held in the half-opened state, and the air chamber side electromagnetic proportional valve 70 is held in the fully closed state.

【００９８】前記ＳＴＥＰ１３において、０≦ｔ＜Ｔsu
pでない場合には、制御装置１０は、さらに、現在時刻
ｔがＴsup≦ｔ＜Ｔsup＋Ｔinであるか否か、すなわち、
脚体３の支持脚期の終了後、大気吸入時間Ｔinが経過す
るまでの期間（以下、この期間を大気吸入期間という）
内であるか否かを判断する（ＳＴＥＰ１７）。このと
き、現在時刻ｔが大気吸入期間内にあるときには、制御
装置１０は、大気側電磁比例弁７１を全開状態に保持す
ると共に、エア室側電磁比例弁７０を全閉状態に保持す
る（ＳＴＥＰ１８）。In STEP 13, 0 ≦ t <Tsu
When it is not p, the control device 10 further determines whether or not the current time t is Tsup ≦ t <Tsup + Tin, that is,
The period after the end of the supporting leg period of the leg 3 until the atmospheric inhalation time Tin elapses (hereinafter, this period is referred to as the atmospheric inhalation period)
It is determined whether or not it is within (STEP 17). At this time, when the current time t is within the atmosphere intake period, the control device 10 holds the atmosphere-side electromagnetic proportional valve 71 in the fully open state and the air chamber-side electromagnetic proportional valve 70 in the fully closed state (STEP 18). ).

【００９９】さらに、ＳＴＥＰ１７において、Ｔsup≦
ｔ＜Ｔsup＋Ｔinでない場合には、制御装置１０は、現
在時刻ｔが、Ｔsup＋Tin≦ｔ＜Ｔsup＋Ｔin＋Ｔupであ
るか否か、すなわち、前記大気吸入期間を過ぎてから、
前記昇圧時間Ｔupが経過するまでの期間（以下、この期
間を昇圧期間という）内であるか否かを判断する（ＳＴ
ＥＰ１９）。このとき、現在時刻ｔが昇圧期間内にある
ときには、制御装置１０は、大気側電磁比例弁７１を全
閉状態に保持すると共に、エア室側電磁比例弁７０を全
開状態に保持する（ＳＴＥＰ２０）。Further, in STEP 17, Tsup ≦
If t <Tsup + Tin is not satisfied, the control device 10 determines whether the current time t is Tsup + Tin ≦ t <Tsup + Tin + Tup, that is, after the atmospheric intake period has passed,
It is determined whether or not it is within a period until the boosting time Tup elapses (hereinafter, this period is referred to as a boosting period) (ST
EP19). At this time, when the current time t is within the boost period, the control device 10 holds the atmosphere-side electromagnetic proportional valve 71 in a fully closed state and the air chamber-side electromagnetic proportional valve 70 in a fully open state (STEP 20). .

【０１００】また、制御装置１０は、ＳＴＥＰ１９にお
いて、現在時刻ｔが昇圧期間内にないときには（このと
き、前記支持脚期及び大気吸入期間でもない）、前記Ｓ
ＴＥＰ１５と同様に、前記大気側電磁比例弁７１を全閉
状態に保持すると共に、電磁比例弁７０を半開状態に保
持する（ＳＴＥＰ２１）。In STEP 19, when the current time t is not within the boosting period (at this time, neither the supporting leg period nor the atmospheric inhalation period), the control device 10 executes the above S.
Similar to the TEP 15, the atmosphere side solenoid proportional valve 71 is held in a fully closed state and the solenoid proportional valve 70 is held in a half open state (STEP 21).

【０１０１】このように電磁比例弁７０，７１の開閉状
態を制御する本実施形態の着床衝撃緩衝装置１８では、
脚体３の袋状部材１９の接地の少し前から、大気側電磁
比例弁７１が全閉状態に保持されると共に、エア室側電
磁比例弁７０が半開状態に保持されている。このため、
脚体３の着床動作に伴う袋状部材１９の接地直後におい
て、該袋状部材１９がその内部の空気と共に圧縮・加圧
されつつ、該袋状部材１９内の空気が半開状態のエア室
側電磁比例弁７０により形成される絞りを介してエア室
６９に流出する。従って、袋状部材１９内の空気が流出
抵抗を伴って流出し、ダンピング効果が発生する。尚、
このとき、エア室６９内の圧力が上昇して高圧になる。In the landing shock absorbing device 18 of the present embodiment, which controls the open / closed states of the solenoid proportional valves 70, 71 as described above,
Shortly before the grounding of the bag-shaped member 19 of the leg 3, the atmosphere-side electromagnetic proportional valve 71 is held in a fully closed state, and the air chamber-side electromagnetic proportional valve 70 is held in a half-opened state. For this reason,
Immediately after the grounding of the bag-shaped member 19 accompanying the landing operation of the leg body 3, the air inside the bag-shaped member 19 is in a semi-open state while the bag-shaped member 19 is compressed and pressurized together with the air therein. It flows out into the air chamber 69 through the throttle formed by the side solenoid proportional valve 70. Therefore, the air in the bag-shaped member 19 flows out with an outflow resistance, and a damping effect is generated. still,
At this time, the pressure in the air chamber 69 rises and becomes high.

【０１０２】さらに、袋状部材１９の圧縮が進行して、
その内部の圧力が前記切換え圧Ｐｃを越えると、大気側
電磁比例弁７１が半開状態に保持されると共に、エア室
側電磁比例弁７０が全閉状態に保持される。このため、
袋状部材１９内の空気は、半開状態の大気側電磁比例弁
７１により形成される絞りを介して大気側に流出する。
従って、袋状部材１９の接地直後と同様、袋状部材１９
内の空気が流出抵抗を伴って流出し、ダンピング効果が
発生する。このような、脚体３の着床動作の際の、袋状
部材１９の圧縮及びその内部の空気の流出動作によっ
て、前記第２実施形態等と同様に、着床衝撃が軽減され
る。Further, the compression of the bag-shaped member 19 progresses,
When the internal pressure exceeds the switching pressure Pc, the atmosphere side solenoid proportional valve 71 is held in a half open state and the air chamber side solenoid proportional valve 70 is held in a fully closed state. For this reason,
The air in the bag-shaped member 19 flows out to the atmosphere side via the throttle formed by the atmosphere-side electromagnetic proportional valve 71 in the half open state.
Therefore, as in the case where the bag-shaped member 19 has just touched the ground, the bag-shaped member 19
The air inside flows out together with the outflow resistance, and a damping effect occurs. By the compression of the bag-shaped member 19 and the outflow operation of the air inside the bag-shaped member 19 during the landing operation of the leg body 3, the landing impact is reduced as in the second embodiment and the like.

【０１０３】一方、脚体３の支持脚期が過ぎ、該脚体３
の支持脚期の終了直後の前記大気吸入期間においては、
大気側電磁比例弁７１が全開状態に保持されると共に、
エア室側電磁比例弁７０が引き続き全閉状態に保持され
る。このため、袋状部材１９の膨張状態への復元力によ
り該袋状部材１９が膨張しつつ、大気中の空気が袋状部
材１９内に流入する。そして、前記大気吸入期間が過ぎ
て該袋状部材１９がある程度膨張すると、次に、前記昇
圧期間において、大気側電磁比例弁７１が全閉状態に保
持されると共に、エア室側電磁比例弁７０が全開状態に
保持される。このため、エア室６９内の高圧の空気が袋
状部材１９内に流入し、該袋状部材１９内の圧力が大気
圧よりも高圧になる。この結果、袋状部材１９内の空気
には、前記第８実施形態のものと同様に、予圧が与えら
れることとなる。尚、昇圧期間の終了後（遊脚側の脚体
３が再び着床する少し前）には、大気側電磁比例弁７１
が全閉状態に保持されると共に、エア室側電磁比例弁７
０が半開状態に保持され、次の着床動作に備えられる。
この状態では、エア室６９内の圧力と袋状部材１９内に
圧力とは基本的には同等になる。On the other hand, the supporting leg period of the leg 3 has passed and the leg 3
In the atmosphere inhalation period immediately after the end of the supporting leg period of
The atmosphere side solenoid proportional valve 71 is held in a fully opened state, and
The air chamber side solenoid proportional valve 70 is continuously held in the fully closed state. Therefore, air in the atmosphere flows into the bag-shaped member 19 while the bag-shaped member 19 is expanded by the restoring force of the bag-shaped member 19 to the expanded state. Then, when the bag-like member 19 expands to some extent after the atmosphere suction period has passed, next, during the boosting period, the atmosphere side solenoid proportional valve 71 is held in the fully closed state and the air chamber side solenoid proportional valve 70. Is held fully open. Therefore, the high-pressure air in the air chamber 69 flows into the bag-shaped member 19, and the pressure in the bag-shaped member 19 becomes higher than the atmospheric pressure. As a result, the air in the bag-shaped member 19 is preloaded as in the case of the eighth embodiment. In addition, after the end of the pressurization period (a little before the leg 3 on the free leg side is landed again), the atmosphere side proportional solenoid valve 71 is opened.
Is held in a fully closed state, and the air chamber side solenoid proportional valve 7
0 is held in the half-opened state and is prepared for the next landing operation.
In this state, the pressure inside the air chamber 69 and the pressure inside the bag-shaped member 19 are basically equal.

【０１０４】上述のように、本実施形態では、脚体３の
着床前に前記第８実施形態と同様に袋状部材１９内の空
気に予圧が与えられるため、該第８実施形態と同様の作
用効果を奏する。そして、この場合、特に本実施形態で
は、空圧源を必要としないため、着床衝撃緩衝装置１８
の構成が簡単になると共に、着床衝撃緩衝装置１８を含
めたロボットのエネルギー消費を少なくできる。また、
エア室側電磁比例弁７０が半開状態であるときに、エア
室６９と袋状部材１９との間で流出抵抗を伴って空気が
流れることにより生じる熱は、大気側電磁比例弁７１を
半開状態もしくは全開状態としたときに、大気側に放出
されるので、本実施形態の着床衝撃緩衝装置１８に熱が
継続的に蓄積されることがない。この結果、放熱器を別
途備えたりする必要がなく、これによっても、着床衝撃
緩衝装置１８の構成を簡略化できる。As described above, in this embodiment, the preload is applied to the air in the bag-like member 19 before the landing of the legs 3 as in the case of the eighth embodiment. Therefore, the same as in the eighth embodiment. Produces the effect of. In this case, in particular, in this embodiment, since the pneumatic pressure source is not required, the landing shock absorbing device 18
In addition to simplifying the configuration, the energy consumption of the robot including the landing shock absorbing device 18 can be reduced. Also,
When the air chamber side solenoid proportional valve 70 is in the half open state, the heat generated by the air flowing between the air chamber 69 and the bag-shaped member 19 with the outflow resistance causes the atmosphere side solenoid proportional valve 71 to be in the half open state. Alternatively, since the air is released to the atmosphere side when fully opened, heat is not continuously accumulated in the landing shock absorbing device 18 of the present embodiment. As a result, it is not necessary to separately provide a radiator, which also simplifies the structure of the landing shock absorbing device 18.

【０１０５】尚、本実施形態の着床衝撃緩衝装置１８で
は、膨張状態の袋状部材１９に予圧を与えるために、前
記第９実形態や第１０実施形態で説明したような予圧付
与機構を採用してもよい。In the landing shock absorbing device 18 of this embodiment, in order to apply a preload to the bag-shaped member 19 in an inflated state, the preload applying mechanism as described in the ninth embodiment and the tenth embodiment is used. May be adopted.

【０１０６】また、前記第１１実施形態では、袋状部材
１９の内部を大気側に連通させるための流体管路６８及
び大気側電磁比例弁７１を備えたが、これらを除去し
て、エア室６９と袋状部材１９との間でのみ空気を授受
するようにすることも可能である。この場合には、例え
ば、エア室側電磁比例弁７０を半開状態に維持してお
く。これにより、袋状部材１９の膨張状態では、前記第
８実施形態や第９実施形態と同様に袋状部材１９内の圧
力が高圧になって、その内部の空気に予圧が付与され
る。従って、着床衝撃の軽減に関して前記第８実施形態
や第９実施形態と同様の効果が得られる。但し、空気
は、エア室６９及び袋状部材１９の内部に密封されるた
め、両者間で空気が流れるときの流体抵抗に伴う発熱が
蓄積しやすい。従って、放熱器等を別途備えることが好
ましい。Further, in the eleventh embodiment, the fluid pipe 68 and the atmosphere side solenoid proportional valve 71 for communicating the inside of the bag-shaped member 19 with the atmosphere side are provided, but these are removed and the air chamber is removed. It is also possible to exchange air only between 69 and the bag-shaped member 19. In this case, for example, the air chamber side solenoid proportional valve 70 is maintained in a half open state. As a result, in the expanded state of the bag-shaped member 19, the pressure inside the bag-shaped member 19 becomes high as in the eighth and ninth embodiments, and a preload is applied to the air therein. Therefore, with respect to the reduction of the landing impact, the same effects as those of the eighth and ninth embodiments can be obtained. However, since the air is sealed inside the air chamber 69 and the bag-shaped member 19, heat is easily accumulated due to the fluid resistance when the air flows between the two. Therefore, it is preferable to separately provide a radiator or the like.

【０１０７】次に、本発明の第１２実施形態を図１８を
参照して説明する。図１８は本実施形態の着床衝撃緩衝
装置を備えた足平機構の側面示の断面図である。尚、本
実施形態は、前記第１及び第２実施形態のものと、足平
機構の一部の構成と着床衝撃緩衝装置の一部の構成のみ
が相違するものであるので、前記第１及び第２実施形態
と同一構成部分もしくは同一機能部分については、該第
１及び第２実施形態と同一の参照符号を用い、説明を省
略する。Next, a twelfth embodiment of the present invention will be described with reference to FIG. FIG. 18 is a side sectional view of a foot mechanism provided with the floor impact shock absorbing device of this embodiment. The present embodiment differs from the first and second embodiments only in part of the structure of the foot mechanism and part of the landing shock absorbing device. The same reference numerals as those in the first and second embodiments are used for the same components or the same functions as those in the second embodiment, and the description thereof will be omitted.

【０１０８】本実施形態では、足平機構６の上面部に
は、前記第１及び第２実施形態のものと同様に断面方形
状の筒部材１３が固設されており、筒部材１３内に、前
記第２実施形態の袋状部材と同様に上方に開口した樽形
の袋状部材１９（可変容積体）が収容されている。この
場合、袋状部材１９の底面部は、筒部材１３内で足平プ
レート部材１２に固着されている。また、筒部材１３内
には、袋状部材１９の上側で、有底の可動筒部材７３が
収容され、この可動筒部材７３は、筒部材１３の内周面
に沿って上下動自在に設けられている。そして、該可動
筒部材７３の底部に前記袋状部材１９の開口端部が固設
されている。従って、可動筒部材７３は、袋状部材１９
を介して足平プレート部材１２に連結されている。さら
に、可動筒部材７３の底部には、本実施形態における流
入・流出手段としての流通路（流通孔）７４が袋状部材
１９の内部に連通して穿設されている。この流通路７４
は絞り通路となっており、前記袋状部材１９と併せて本
実施形態の着床衝撃緩衝装置１８を構成するものであ
る。In the present embodiment, a tubular member 13 having a rectangular cross section is fixedly mounted on the upper surface of the foot mechanism 6 as in the first and second embodiments. As with the bag-shaped member of the second embodiment, a barrel-shaped bag-shaped member 19 (variable volume) that opens upward is accommodated. In this case, the bottom portion of the bag-shaped member 19 is fixed to the foot plate member 12 inside the tubular member 13. Further, a bottomed movable cylinder member 73 is accommodated inside the cylinder member 13 above the bag-shaped member 19, and the movable cylinder member 73 is provided so as to be vertically movable along the inner peripheral surface of the cylinder member 13. Has been. The open end of the bag-shaped member 19 is fixed to the bottom of the movable tubular member 73. Therefore, the movable tubular member 73 is the bag-shaped member 19
Is connected to the foot plate member 12 via. Further, a flow passage (circulation hole) 74 as an inflow / outflow means in the present embodiment is provided at the bottom of the movable tubular member 73 so as to communicate with the inside of the bag-shaped member 19. This flow passage 74
Represents a throttle passage, and together with the bag-shaped member 19, constitutes a landing shock absorbing device 18 of the present embodiment.

【０１０９】また、可動筒部材７３の内部には、その内
周面に沿ってほぼ上下方向に可動な可動プレート７５が
収容され、この可動プレート７５は、その下面の周縁部
がばね、ゴム等の弾性材からなる複数の弾性部材７６
（図ではばねとして記載している）を介して可動筒部材
７３の上面部に連結されている。そして、この可動プレ
ート７５の上面部に６軸力センサ１５を介して脚体３の
足首関節９が連結されている。Further, inside the movable cylindrical member 73, a movable plate 75 which is movable in a substantially vertical direction along the inner peripheral surface thereof is housed, and the peripheral edge of the lower surface of the movable plate 75 is a spring, rubber or the like. Elastic members 76 made of elastic material
It is connected to the upper surface portion of the movable tubular member 73 via (described as a spring in the drawing). The ankle joint 9 of the leg 3 is connected to the upper surface of the movable plate 75 via the 6-axis force sensor 15.

【０１１０】尚、可動筒部材７３の内部の空間（可動プ
レート７５との間の空間）は、図示しない穴や隙間を介
して大気側に開放されている。従って、袋状部材１９の
内部は、流通路７４を介して大気側に連通しており、該
袋状部材１８が図示のように膨張した状態では、該袋状
部材１８の内部に大気圧の空気が充填されている。ま
た、本実施形態では、袋状部材１９は、脚体３の離床状
態において、足平プレート部材１２等の重量により袋状
部材１９が伸びて可動筒部材７３が筒部材１３から抜け
落ちることがないように、図示の膨張状態（自然状態）
以上には伸び難い弾性材により構成されている。もしく
は、構造的に可動筒部材７３が筒部材１３から抜け落ち
ないようになっている。以上説明した以外の構成（前記
制御装置１０の制御処理を含む）は、前記第１及び第２
実施形態のものと同一である。The space inside the movable cylinder member 73 (the space between the movable cylinder 75 and the movable plate 75) is open to the atmosphere through holes and gaps (not shown). Therefore, the inside of the bag-shaped member 19 communicates with the atmosphere side through the flow passage 74, and when the bag-shaped member 18 is inflated as shown in the drawing, the inside of the bag-shaped member 18 is exposed to atmospheric pressure. It is filled with air. Further, in the present embodiment, in the bag-shaped member 19, the movable tubular member 73 does not fall out of the tubular member 13 due to the weight of the foot plate member 12 or the like and the bag-shaped member 19 extends when the legs 3 are out of bed. As shown, inflated state (natural state)
The above is made of an elastic material that is difficult to stretch. Alternatively, the movable tubular member 73 is structurally prevented from falling off from the tubular member 13. Configurations other than those described above (including the control processing of the control device 10) are the same as those of the first and second
It is the same as that of the embodiment.

【０１１１】上述のように構成された本実施形態の着床
衝撃緩衝装置１８では、脚体３の着床動作の際に、該脚
体３の足平機構６が接地部材１７を介して接地すると、
袋状部材１９が圧縮されつつ、該袋状部材１９内の空気
が流通路７４を介して流出する。このとき、流通路７４
は絞り通路であるので、流出抵抗を生じる。このような
本実施形態の着床衝撃緩衝装置１８の作動により、脚体
３の着床動作の際の着床衝撃が前記第１及び第２実施形
態のものと同様に軽減される。また、脚体３の離床状態
では、袋状部材１９がその弾性力により、元の膨張状態
に復元し、このとき、大気中の空気が流通路７４を介し
て袋状部材１９内に流入する。In the landing shock absorbing device 18 of the present embodiment configured as described above, the foot mechanism 6 of the leg 3 is grounded via the grounding member 17 during the landing operation of the leg 3. Then,
While the bag-shaped member 19 is compressed, the air inside the bag-shaped member 19 flows out through the flow passage 74. At this time, the flow passage 74
Is a throttling passage, so that outflow resistance occurs. By such an operation of the landing shock absorbing device 18 of the present embodiment, the landing shock at the time of the landing operation of the leg body 3 is reduced as in the first and second embodiments. Further, when the leg body 3 is in the bed-free state, the bag-shaped member 19 is restored to its original expanded state by its elastic force, and at this time, air in the atmosphere flows into the bag-shaped member 19 through the flow passage 74. .

【０１１２】尚、本実施形態では、可変容積体として袋
状部材１９を備えたが、例えば、前記筒部材１３を円筒
状（シリンダチューブ状）に形成すると共に、可動筒部
材７３をピストン状に形成し、筒部材１３内における可
動筒部材７３の下側の空間の可変容積体として構成する
ようにすることも可能である。In this embodiment, the bag-shaped member 19 is provided as the variable volume body. However, for example, the cylindrical member 13 is formed into a cylindrical shape (cylinder tube shape), and the movable cylindrical member 73 is formed into a piston shape. It is also possible to form it and configure it as a variable volume body in a space below the movable tubular member 73 in the tubular member 13.

【０１１３】次に、本発明の第１３実施形態を図１９を
参照して説明する。図１９は本実施形態の着床衝撃緩衝
装置を備えた足平機構の要部の側面示の断面図である。
尚、本実施形態は、前記第１及び第２実施形態のもの
と、着床衝撃緩衝装置を含めた足平機構の一部の構成の
みが相違するものであるので、図１９では、足平機構の
要部構成のみを記載している。また、本実施形態の説明
では、前記第１及び第２実施形態と同一構成部分もしく
は同一機能部分については、該第１及び第２実施形態と
同一の参照符号を用い、説明を省略する。Next, a thirteenth embodiment of the present invention will be described with reference to FIG. FIG. 19 is a cross-sectional side view of the main part of the foot mechanism including the landing shock absorbing device of the present embodiment.
The present embodiment differs from the first and second embodiments only in a part of the structure of the foot mechanism including the landing shock absorbing device. Therefore, in FIG. Only the main configuration of the mechanism is shown. Further, in the description of the present embodiment, the same reference numerals as those in the first and second embodiments will be used for the same components or the same functional parts as those in the first and second embodiments, and the description thereof will be omitted.

【０１１４】図１９に示すように、本実施形態の着床衝
撃緩衝装置１８では、足平機構６の足平プレート部材１
２の底面には、それをほぼ全面にわたって覆うようにし
て可変容積体としての袋状部材７７が取着されている。
この袋状部材７７は、前記第１及び第２実施形態のもの
と同様にゴム等の弾性材により上方に開口した有底容器
状に形成され、その開口端部が全周にわたって足平プレ
ート部材１２の下面部の周縁部に固着されている。そし
て、この袋状部材７７の底面部の四隅（袋状部材７７の
前部寄りの箇所の両側部と、後部寄りの箇所の両側部）
には、前記第１及び第２実施形態のものの接地部材１７
の硬質層１７ｂに相当する接地部７８が袋状部材７７と
一体に設けられている。尚、接地部７８は袋状部材７７
と別体でもよい。As shown in FIG. 19, in the landing shock absorbing device 18 of this embodiment, the foot plate member 1 of the foot mechanism 6 is used.
A bag-like member 77 serving as a variable volume body is attached to the bottom surface of the second member 2 so as to cover the entire surface of the second member.
This bag-shaped member 77 is formed in the shape of a bottomed container opened upward by an elastic material such as rubber as in the case of the first and second embodiments, and the opening end thereof is a foot plate member over the entire circumference. It is fixed to the peripheral portion of the lower surface portion of 12. The four corners of the bottom surface of the bag-shaped member 77 (both sides of the bag-shaped member 77 near the front and both sides of the back)
The ground member 17 of the first and second embodiments.
The ground portion 78 corresponding to the hard layer 17b is integrally provided with the bag-shaped member 77. The ground contact portion 78 is a bag-shaped member 77.
It may be a separate body.

【０１１５】また、袋状部材７７の内部には、スポンジ
７９（より一般的に言えば軟質の弾性多孔質体）が該袋
状部材７７の内部のほぼ全領域にわたって収容されてい
る。さらに、袋状部材７７の内部は、前記第１及び第２
実施形態のものと同様に、流体・流出手段として足平プ
レート部材１２に穿設された流通路２０を介して大気側
に連通されている。尚、本実施形態では、足平接地プレ
ート１２には、前記第１及び第２実施形態で備えた接地
部材１７は備えられていない。以上説明した以外の構成
（制御装置１０の制御処理を含む）は、前記第１及び第
２実施形態のものと同一である。A sponge 79 (generally speaking, a soft elastic porous body) is housed inside the bag-shaped member 77 over almost the entire area inside the bag-shaped member 77. Further, the inside of the bag-shaped member 77 has the first and second
Similar to the embodiment, it is connected to the atmosphere side through a flow passage 20 formed in the foot plate member 12 as a fluid / outflow means. In the present embodiment, the foot ground plate 12 does not include the ground member 17 included in the first and second embodiments. The configuration (including the control process of the control device 10) other than that described above is the same as that of the first and second embodiments.

【０１１６】かかる本実施形態の着床衝撃緩衝装置１８
では、脚体３の着床動作の際に袋状部材７７が、その内
部の空気及びスポンジ７９と共に圧縮される。そして、
袋状部材７７から空気が流通路２０を介して大気側に流
出し、この時、該空気の流出抵抗が発生する。従って、
着床衝撃に軽減に関する基本的作用効果は、前記第１及
び第２実施形態のものと同一である。The landing shock absorbing device 18 of the present embodiment
Then, during the landing operation of the leg body 3, the bag-shaped member 77 is compressed together with the air therein and the sponge 79. And
Air flows from the bag-shaped member 77 to the atmosphere side through the flow passage 20, and at this time, an outflow resistance of the air is generated. Therefore,
The basic operation and effect for reducing the impact upon landing are the same as those of the first and second embodiments.

【０１１７】一方、本実施形態の着床衝撃緩衝装置１８
では、袋状部材７７内にスポンジ７９が収容されている
ため、次のような効果がある。すなわち、袋状部材７７
がスポンジ７９と共に圧縮されると、袋状部材７７だけ
でなくスポンジ７９も形状復元力を有するため、脚体３
の離床によって、袋状部材７７が速やかに自然状態に膨
張する。また、スポンジ７９が袋状部材７７内に充填さ
れていることで、袋状部材７７の圧縮時に、該袋状部材
７７の一部が過剰に大きな曲率となることが避けられ
る。その結果、袋状部材７７が圧縮により破損してしま
うような事態を防止できる。さらに、袋状部材７７の圧
縮時に、スポンジ７９の孔内の空気が該スポンジ７９か
ら流出するときに、流出抵抗が発生するため、本実施形
態の着床衝撃緩衝装置１８のダンピング効果を高めるこ
とができる。さらに、袋状部材７７の圧縮時に該袋状部
材７７内の空気が前記流通路２０を介して流出するとき
に発生する音がスポンジ７９によりある程度吸収される
ため、消音効果を得ることができる。On the other hand, the landing shock absorbing device 18 of this embodiment
Since the bag-shaped member 77 contains the sponge 79, the following effects are obtained. That is, the bag-shaped member 77
When the sponge 79 and the sponge 79 are compressed, not only the bag-shaped member 77 but also the sponge 79 has a shape-restoring force.
By leaving the bed, the bag-shaped member 77 quickly expands to a natural state. Further, since the bag-shaped member 77 is filled with the sponge 79, it is possible to prevent a part of the bag-shaped member 77 from having an excessively large curvature when the bag-shaped member 77 is compressed. As a result, it is possible to prevent the bag-shaped member 77 from being damaged by compression. Furthermore, when the air inside the holes of the sponge 79 flows out from the sponge 79 when the bag-shaped member 77 is compressed, outflow resistance is generated, so that the damping effect of the landing shock absorbing device 18 of the present embodiment is enhanced. You can Furthermore, since the sound generated when the air inside the bag-shaped member 77 flows out through the flow passage 20 when the bag-shaped member 77 is compressed is absorbed to some extent by the sponge 79, a sound deadening effect can be obtained.

【０１１８】尚、本実施形態では、袋状部材７７の内部
のほぼ全領域にわたってスポンジ７９を収容するように
したが、袋状部材７７の内部の複数の領域（例えば、袋
状部材７７の四隅）に分散させてスポンジを袋状部材７
７に充填するようにしてもよい。また、前記第１〜第１
２実施形態でそれぞれ備えた袋状部材１９の内部に、第
１３実施形態と同様にスポンジを収容するようにしても
よい。In this embodiment, the sponge 79 is accommodated in almost the entire area inside the bag-shaped member 77, but a plurality of areas inside the bag-shaped member 77 (for example, four corners of the bag-shaped member 77). ) And sponge the sponge 7
7 may be filled. Also, the first to the first
As in the thirteenth embodiment, a sponge may be housed inside the bag-shaped member 19 provided in each of the two embodiments.

【０１１９】以上説明した各実施形態では、単一の袋状
部材１９，７７を足平機構６に備えるようにしたが、複
数の袋状部材を備えるようにしてもよい。例えば、図２
０（ａ）〜（ｄ）に示すように、足平機構の足平プレー
ト部材１２の底面側の複数箇所に前記第１及び第２実施
形態における袋状部材１９と同じような形状の袋状部材
８０を備えるようにしてもよい（第１４実施形態）。こ
れらの各図２０（ａ）〜（ｄ）は、足平プレート１２の
底面側から見た模式的な平面図である。尚、この場合、
各袋状部材８０に対して空気を流入・流出させる流入・
流出手段は、例えば各袋状部材１９の内部にそれぞれ連
通して足平プレート部材１２に穿設される複数の流通孔
（前記第１及び第２実施形態における流通路２０に相当
するもの）により構成すればよい。このように複数の袋
状部材を複数備えたときには、脚体の着床動作の際に足
平機構と床面と姿勢関係によって、複数の袋状部材８０
のうちの一部の袋状部材８０が圧縮された場合には、足
平機構には、水平方向の軸回りのモーメントが発生す
る。このため、前述したコンプラインアンス動作制御に
よる足平機構の姿勢制御が、前記複数の袋状部材８０の
いずれかの接地直後から機能し、該コンプラインス動作
制御の効果が高まる。In each of the embodiments described above, the single bag-shaped member 19, 77 is provided in the foot mechanism 6, but a plurality of bag-shaped members may be provided. For example, in FIG.
As shown in FIGS. 0 (a) to 0 (d), a bag-like member having the same shape as the bag-like member 19 in the first and second embodiments is provided at a plurality of positions on the bottom surface side of the foot plate member 12 of the foot mechanism. You may make it provide the member 80 (14th Embodiment). Each of these FIGS. 20A to 20D is a schematic plan view seen from the bottom surface side of the foot plate 12. In this case,
Inflow and outflow of air to and from each bag-shaped member 80
The outflow means is, for example, a plurality of flow holes (corresponding to the flow passages 20 in the first and second embodiments) that are communicated with the inside of each bag-shaped member 19 and are formed in the foot plate member 12. Just configure it. When a plurality of bag-shaped members are provided in this manner, the plurality of bag-shaped members 80 are arranged depending on the posture relationship between the foot mechanism and the floor surface during the landing operation of the legs.
When a part of the bag-shaped member 80 is compressed, a moment about the horizontal axis is generated in the foot mechanism. Therefore, the posture control of the foot mechanism by the above-described compliance motion control functions immediately after the ground contact of any of the plurality of bag-shaped members 80, and the effect of the compliance motion control is enhanced.

【０１２０】尚、上述のように複数の袋状部材８０を備
えた場合において、それらの袋状部材８０を相互に、あ
るいは該袋状部材８０のうちのいくつかの袋状部材８０
同士を、絞り等を有する流通路を介して連通させるよう
にしてもよい。また、複数の袋状部材は、例えば、前記
第１３実施形態のような形状の袋状部材の内部を隔壁に
より分割して構成するようにしてもよい。When a plurality of bag-shaped members 80 are provided as described above, these bag-shaped members 80 may be connected to each other or some of the bag-shaped members 80.
They may be communicated with each other via a flow passage having a throttle or the like. Further, the plurality of bag-shaped members may be configured, for example, by dividing the inside of the bag-shaped member having the shape as in the thirteenth embodiment by partition walls.

【０１２１】また、以上説明した各実施形態において備
えた袋状部材に空気を流入させるための通路（例えば第
５〜第１１実施形態における流体管路３４，４１，４
６，５３，６８）の一部を、各脚体３の内部の空間（各
関節７〜９の内部を含む）や、上体２の内部の空間によ
り構成するようにしてもよい。このようにすると、各脚
体３や上体２の内部のアクチュエータや電子回路を、袋
状部材内に流入する空気により冷却することができる。Further, passages for introducing air into the bag-shaped member provided in each of the above-described embodiments (for example, the fluid conduits 34, 41, 4 in the fifth to eleventh embodiments).
6, 53, 68) may be partially configured by the space inside each leg 3 (including the inside of each joint 7-9) or the space inside the upper body 2. With this configuration, the actuators and electronic circuits inside the legs 3 and the upper body 2 can be cooled by the air flowing into the bag-shaped member.

【図面の簡単な説明】[Brief description of drawings]

【図１】本発明の実施形態における脚式移動ロボットの
基本構成を示す側面図。FIG. 1 is a side view showing a basic configuration of a legged mobile robot according to an embodiment of the present invention.

【図２】本発明の第１実施形態の着床衝撃緩衝装置を備
えた足平機構の側面示の断面図。FIG. 2 is a side sectional view of a foot mechanism including a landing shock absorbing device according to the first embodiment of the present invention.

【図３】図２の足平機構の底面側から見た平面図。FIG. 3 is a plan view of the foot mechanism of FIG. 2 viewed from the bottom side.

【図４】図１の脚式移動ロボットの動作制御の処理を示
すフローチャート。FIG. 4 is a flowchart showing a process of motion control of the legged mobile robot of FIG.

【図５】図２の足平機構の着床衝撃緩衝装置の作動を説
明するための説明図。5 is an explanatory view for explaining the operation of the landing shock absorbing device of the foot mechanism of FIG.

【図６】本発明の第２実施形態の着床衝撃緩衝装置を備
えた足平機構の側面示の断面図。FIG. 6 is a side sectional view showing a foot mechanism including a landing shock absorbing device according to a second embodiment of the present invention.

【図７】本発明の第３実施形態の着床衝撃緩衝装置の流
入・流出手段の構成を示す断面図。FIG. 7 is a cross-sectional view showing a configuration of inflow / outflow means of a landing shock absorbing device according to a third embodiment of the present invention.

【図８】本発明の第４実施形態の着床衝撃緩衝装置を備
えた足平機構の要部の模式図。FIG. 8 is a schematic diagram of a main part of a foot mechanism including a landing shock absorbing device according to a fourth embodiment of the present invention.

【図９】本発明の第５実施形態の着床衝撃緩衝装置を備
えた足平機構の要部の模式図。FIG. 9 is a schematic view of a main part of a foot mechanism including a landing shock absorbing device according to a fifth embodiment of the present invention.

【図１０】本発明の第６実施形態の着床衝撃緩衝装置を
備えた足平機構の要部の模式図。FIG. 10 is a schematic diagram of a main part of a foot mechanism including a landing shock absorbing device according to a sixth embodiment of the present invention.

【図１１】本発明の第７実施形態の着床衝撃緩衝装置を
備えた足平機構の要部の模式図。FIG. 11 is a schematic diagram of a main part of a foot mechanism including a landing shock absorbing device according to a seventh embodiment of the present invention.

【図１２】本発明の第８実施形態の着床衝撃緩衝装置を
備えた足平機構の要部の模式図。FIG. 12 is a schematic diagram of a main part of a foot mechanism including a landing shock absorbing device according to an eighth embodiment of the present invention.

【図１３】第８実施形態の着床衝撃緩衝装置の作動を説
明するための線図。FIG. 13 is a diagram for explaining the operation of the landing shock absorbing device of the eighth embodiment.

【図１４】本発明の第９実施形態の着床衝撃緩衝装置を
備えた足平機構の要部の模式図。FIG. 14 is a schematic diagram of a main part of a foot mechanism including a landing shock absorbing device according to a ninth embodiment of the present invention.

【図１５】本発明の第１０実施形態の着床衝撃緩衝装置
を備えた足平機構の要部の模式図。FIG. 15 is a schematic diagram of a main part of a foot mechanism including a landing shock absorbing device according to a tenth embodiment of the present invention.

【図１６】本発明の第１１実施形態の着床衝撃緩衝装置
を備えた足平機構の要部の模式図。FIG. 16 is a schematic view of a main part of a foot mechanism including a landing shock absorbing device according to an eleventh embodiment of the present invention.

【図１７】第１１実施形態の着床衝撃緩衝装置の流入・
流出手段の制御処理を示すフローチャート。FIG. 17 shows an inflow of the landing shock absorbing device of the eleventh embodiment.
The flowchart which shows the control processing of the outflow means.

【図１８】本発明の第１２実施形態の着床衝撃緩衝装置
を備えた足平機構の側面示の断面図。FIG. 18 is a side sectional view of a foot mechanism including a floor impact shock absorber according to a twelfth embodiment of the present invention.

【図１９】本発明の第１３実施形態の着床衝撃緩衝装置
を備えた足平機構の要部の側面示の断面図。FIG. 19 is a sectional side view of a main part of a foot mechanism including a landing shock absorbing device according to a thirteenth embodiment of the present invention.

【図２０】本発明の第１４実施形態の着床衝撃緩衝装置
の袋状部材の配置構成を示す平面図。FIG. 20 is a plan view showing an arrangement configuration of bag-shaped members of a flooring impact shock absorber according to a fourteenth embodiment of the present invention.

【符号の説明】[Explanation of symbols]

１…脚式移動ロボット（二足移動ロボット）、３…脚
体、６…足平機構、１８…着床衝撃緩衝装置、１９，７
７，８０…袋状部材（可変容積体）、２０，７４…流通
路（流入・流出手段）、２３，２６，３２，３９，４
４，５１，６６…流入・流出手段、７９…スポンジ（多
孔質体）。1 ... Leg type mobile robot (bipedal mobile robot), 3 ... Leg body, 6 ... Foot mechanism, 18 ... Landing impact shock absorber, 19, 7
7, 80 ... Bag-shaped member (variable volume), 20, 74 ... Flow passage (inflow / outflow means), 23, 26, 32, 39, 4
4, 51, 66 ... Inflow / outflow means, 79 ... Sponge (porous body).

───────────────────────────────────────────────────── フロントページの続き (72)発明者 浜谷 一司 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 (72)発明者 竹村 佳也 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 (72)発明者 松本 隆志 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 (72)発明者 吉池 孝英 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 (72)発明者 西村 要一 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 (72)発明者 秋元 一志 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 (72)発明者 横山 太郎 埼玉県和光市中央１丁目４番１号 株式会 社本田技術研究所内 Ｆターム(参考） 2C150 CA01 DA04 DA26 DA27 DA28 EB01 EB37 EC03 EC15 ED10 ED42 ED52 EF07 EF09 EF16 EF22 EF23 3C007 BS27 CS08 CY32 KS33 KX12 WA03 WA13 WC23    ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Kazushi Hamaya             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory (72) Inventor Yoshiya Takemura             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory (72) Inventor Takashi Matsumoto             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory (72) Inventor Takahide Yoshiike             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory (72) Inventor Yoichi Nishimura             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory (72) Inventor Kazushi Akimoto             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory (72) Inventor Taro Yokoyama             1-4-1 Chuo Stock Market, Wako City, Saitama Prefecture             Inside Honda Research Laboratory F-term (reference) 2C150 CA01 DA04 DA26 DA27 DA28                       EB01 EB37 EC03 EC15 ED10                       ED42 ED52 EF07 EF09 EF16                       EF22 EF23                 3C007 BS27 CS08 CY32 KS33 KX12                       WA03 WA13 WC23

Claims (13)

【特許請求の範囲】[Claims] 【請求項１】足平機構の接地面部を介してそれぞれ接地
可能な複数の脚体の離床・着床動作により移動する脚式
移動ロボットにおいて、 各脚体の着床動作の際に床反力を受けて圧縮されると共
に少なくとも該脚体の離床動作により該床反力を受けな
くなったときには膨張し得るように該脚体の足平機構に
設けられ、その膨縮に伴い内部に圧縮性流体を入出可能
な可変容積体と、各脚体の離床状態で該可変容積体を膨
張させつつ該可変容積体に圧縮性流体を流入させると共
に前記床反力による該可変容積体の圧縮に伴い該可変容
積体から圧縮性流体を流出させる流入・流出手段とを備
え、該流入・流出手段による前記可変容積体内の圧縮性
流体の流出の際に流出抵抗を発生させるようにしたこと
を特徴とする脚式移動ロボットの着床衝撃緩衝装置。1. In a legged mobile robot that moves by leaving and landing motions of a plurality of legs that can be respectively grounded through a grounding surface portion of a foot mechanism, a floor reaction force is generated when the legs are landing motions. The foot mechanism of the leg body is compressed so that it can be expanded at least when the floor reaction force is not received by the floor leaving motion of the leg body. And a variable volume body capable of moving in and out, and a compressive fluid is caused to flow into the variable volume body while expanding the variable volume body in a state where each leg is out of bed, and the variable volume body is compressed by the floor reaction force. Inflow / outflow means for outflowing the compressive fluid from the variable volume body is provided, and outflow resistance is generated when the inflow / outflow means flows out the compressive fluid in the variable volume body. Impact shock absorber for landing of a legged mobile robot Place 【請求項２】前記可変容積体は、前記各脚体の着床動作
の際に該脚体の足平機構の接地面部に先行して接地する
ように該足平機構の底面側に設けられた変形自在な袋状
部材により構成されていることを特徴とする請求項１記
載の脚式移動ロボットの着床衝撃緩衝装置。2. The variable volume body is provided on the bottom surface side of the foot mechanism so as to be grounded prior to the grounding surface portion of the foot mechanism of the leg body when the legs are landed. The landing shock absorbing device for a legged mobile robot according to claim 1, characterized in that it is constituted by a deformable bag-like member. 【請求項３】前記袋状部材は、その膨張方向への復元力
を有するように弾性材を用いて構成されていることを特
徴とする請求項２記載の脚式移動ロボットの着床衝撃緩
衝装置。3. The shock absorber for landing shock of a legged mobile robot according to claim 2, wherein the bag-shaped member is made of an elastic material so as to have a restoring force in the expansion direction. apparatus. 【請求項４】前記袋状部材は複数設けられていることを
特徴とする請求項２又は３記載の脚式移動ロボットの着
床衝撃緩衝装置。4. The landing shock absorbing device for a legged mobile robot according to claim 2, wherein a plurality of the bag-shaped members are provided. 【請求項５】前記袋状部材の内部には、該袋状部材と共
に膨縮可能な多孔質体が収容されていることを特徴とす
る請求項２〜４のいずれか１項に記載の着床衝撃緩衝装
置。5. The dressing according to claim 2, wherein the bag-shaped member contains a porous body capable of expanding and contracting together with the bag-shaped member. Floor shock absorber. 【請求項６】前記流入・流出手段は前記可変容積体から
の圧縮性流体の流出抵抗よりも該可変容積体への圧縮性
流体の流入抵抗を小さくするように構成されていること
を特徴とする請求項１〜５のいずれか１項に記載の脚式
移動ロボットの着床衝撃緩衝装置。6. The inflow / outflow means is configured so that the inflow resistance of the compressive fluid into the variable volume is smaller than the outflow resistance of the compressive fluid from the variable volume. The landing shock absorbing device for a legged mobile robot according to any one of claims 1 to 5. 【請求項７】前記流入・流出手段は前記可変容積体内の
圧力を所定の上限圧力以下に制限する上限圧力制限手段
を備えていることを特徴とする請求項１〜６のいずれか
１項に記載の脚式移動ロボットの着床衝撃緩衝装置。7. The inflow / outflow means is provided with an upper limit pressure limiting means for limiting the pressure inside the variable volume body to a predetermined upper limit pressure or lower. A shock absorber for landing impact of the legged mobile robot described. 【請求項８】前記上限圧力制限手段は前記上限圧力を可
変的に調整可能に設けられていることを特徴とする請求
項７記載の脚式移動ロボットの着床衝撃緩衝装置。8. The landing shock absorbing device for a legged mobile robot according to claim 7, wherein the upper limit pressure limiting means is provided so as to variably adjust the upper limit pressure. 【請求項９】前記流入・流出手段は前記可変容積体から
の圧縮性流体の流出抵抗を可変的に調整可能に設けられ
ていることを特徴とする請求項１〜８のいずれか１項に
記載の脚式移動ロボットの着床衝撃緩衝装置。9. The inflow / outflow means is provided so as to be able to variably adjust the outflow resistance of the compressive fluid from the variable volume body. A shock absorber for landing impact of the legged mobile robot described. 【請求項１０】前記流入・流出手段は前記可変容積体か
らの圧縮性流体の流出と該可変容積体への圧縮性流体の
流入とを、該可変容積体に連通する共通の流通路を介し
て行うことを特徴とする請求項１〜９のいずれか１項に
記載の脚式移動ロボットの着床衝撃緩衝装置。10. The inflow / outflow means communicates the outflow of the compressive fluid from the variable volume body and the inflow of the compressive fluid into the variable volume body via a common flow passage communicating with the variable volume body. The landing shock absorbing device for a legged mobile robot according to any one of claims 1 to 9, wherein 【請求項１１】前記流入・流出手段は、前記可変容積体
の膨張状態での該可変容積体内の圧力を大気圧よりも大
きくする手段を備えていることを特徴とする請求項１〜
１０のいずれか１項に記載の脚式移動ロボットの着床衝
撃緩衝装置。11. The inflow / outflow means comprises means for increasing the pressure inside the variable volume body above the atmospheric pressure when the variable volume body is in an expanded state.
Item 10. A landing shock absorbing device for a legged mobile robot according to any one of items 10. 【請求項１２】前記可変容積体の膨張状態での容積を所
定の上限容積以下に制限する手段を備えたことを特徴と
する請求項１１記載の脚式移動ロボットの着床衝撃緩衝
装置。12. A landing shock absorbing device for a legged mobile robot according to claim 11, further comprising means for limiting a volume of the variable volume body in an expanded state to a predetermined upper limit volume or less. 【請求項１３】前記圧縮性流体は空気であり、前記流入
・流出手段は、前記流入・流出手段は、前記可変容積体
の圧縮時に該可変容積体内の空気を大気中に流出させる
と共に前記可変容積体の膨張時に大気中の空気を前記可
変容積体内に流入させる手段を備えていることを特徴と
する請求項１〜１２のいずれか１項に記載の着床衝撃緩
衝装置。13. The compressive fluid is air, and the inflow / outflow means causes the air in the variable volume body to flow out into the atmosphere when the variable volume body is compressed, and the variable volume The landing shock absorbing device according to any one of claims 1 to 12, further comprising means for causing air in the atmosphere to flow into the variable volume body when the volume body expands.
JP2001392787A 2001-12-25 2001-12-25 Landing shock absorber for legged mobile robot Expired - Fee Related JP3691434B2 (en)

Priority Applications (6)

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JP2001392787A JP3691434B2 (en) 2001-12-25 2001-12-25 Landing shock absorber for legged mobile robot
KR1020047009967A KR100917183B1 (en) 2001-12-25 2002-12-11 Device for absorbing floor-landing shock for legged mobile robot
EP02788801A EP1459854B1 (en) 2001-12-25 2002-12-11 Device for absorbing floor-landing shock for legged mobile robot
DE60231647T DE60231647D1 (en) 2001-12-25 2002-12-11 DEVICE FOR ABSORBING FLOOR EXTRACTION PADS FOR MOBILE ROBOTS WITH LEGS
PCT/JP2002/012980 WO2003055649A1 (en) 2001-12-25 2002-12-11 Device for absorbing floor-landing shock for legged mobile robot
US10/499,056 US7228923B2 (en) 2001-12-25 2002-12-11 Device for absorbing floor-landing shock for legged mobile robot

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EP1459854B1 (en) 2009-03-18
KR20040074101A (en) 2004-08-21
WO2003055649A1 (en) 2003-07-10
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US7228923B2 (en) 2007-06-12

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